TY - GEN
T1 - Center of mass estimation for rehabilitation in a multi-contact environment
T2 - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
AU - González, Alejandro
AU - Hayashibe, Mitsuhiro
AU - Demircan, Emel
AU - Fraisse, Philippe
PY - 2013
Y1 - 2013
N2 - Center of mass (CoM) estimation can be used to evaluate human stability during rehabilitation. A personalized estimation can be obtained using the serial equivalent static chain (SESC) method, calibrated using a series of static postures. The estimation accuracy is dependent on the number and quality of poses used during calibration. Currently, this limits the method's application to unimpaired individuals. We present a preliminary study of a SESC identified in a multi-contact scenario during a Sit-to-Stand task. Stanford's SAI (Simulation and Active Interface) platform was used to emulate motion and predict relevant reaction forces. The CoM estimation obtained is valid for motions similar to those used during identification. Using a threedimensional model, the estimated mean error was less than 26 millimetres for a Sit-to-Stand task involving displacements along all axes. As such, personalized CoM estimation can be available for patients with a limited range of whole body motion.
AB - Center of mass (CoM) estimation can be used to evaluate human stability during rehabilitation. A personalized estimation can be obtained using the serial equivalent static chain (SESC) method, calibrated using a series of static postures. The estimation accuracy is dependent on the number and quality of poses used during calibration. Currently, this limits the method's application to unimpaired individuals. We present a preliminary study of a SESC identified in a multi-contact scenario during a Sit-to-Stand task. Stanford's SAI (Simulation and Active Interface) platform was used to emulate motion and predict relevant reaction forces. The CoM estimation obtained is valid for motions similar to those used during identification. Using a threedimensional model, the estimated mean error was less than 26 millimetres for a Sit-to-Stand task involving displacements along all axes. As such, personalized CoM estimation can be available for patients with a limited range of whole body motion.
KW - Balance
KW - Center of mass
KW - Human balance
KW - Kalman filter
KW - Multiple contacts
KW - Operational space
KW - Parameter identification
UR - http://www.scopus.com/inward/record.url?scp=84893563462&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893563462&partnerID=8YFLogxK
U2 - 10.1109/SMC.2013.803
DO - 10.1109/SMC.2013.803
M3 - Conference contribution
AN - SCOPUS:84893563462
SN - 9780769551548
T3 - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
SP - 4718
EP - 4723
BT - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Y2 - 13 October 2013 through 16 October 2013
ER -