TY - GEN
T1 - Control of a passive walker using a depth sensor for user state estimation
AU - Taghvaei, Sajjad
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2011
Y1 - 2011
N2 - The motion of a passive type walker is controlled so that it can be used as a support for standing up, sitting down and also to prevent the user from falling down. A depth vision sensor is used to locate the centroid of the user's upper body. A 2D probabilistic model of the location of the centroid is constructed based on the gathered data of the user during normal walking. A set of statistical normality tests assure the validity of such model. The state estimation method is experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes.
AB - The motion of a passive type walker is controlled so that it can be used as a support for standing up, sitting down and also to prevent the user from falling down. A depth vision sensor is used to locate the centroid of the user's upper body. A 2D probabilistic model of the location of the centroid is constructed based on the gathered data of the user during normal walking. A set of statistical normality tests assure the validity of such model. The state estimation method is experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes.
UR - http://www.scopus.com/inward/record.url?scp=84860781140&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2011.6181524
DO - 10.1109/ROBIO.2011.6181524
M3 - Conference contribution
AN - SCOPUS:84860781140
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 1639
EP - 1645
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -