Vision-based human state estimation to control an intelligent passive walker

Sajjad Taghvaei; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/SII.2010.5708316

Vision-based human state estimation to control an intelligent passive walker

Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Citations (Scopus)

Abstract

The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes.

Original language	English
Title of host publication	2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publication	SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages	146-151
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2010.5708316
Publication status	Published - 2010 Dec 1
Event	3rd International Symposium on System Integration, SII 2010 - Sendai, Japan Duration: 2010 Dec 21 → 2010 Dec 22

Publication series

Name	2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other	3rd International Symposium on System Integration, SII 2010
Country/Territory	Japan
City	Sendai
Period	10/12/21 → 10/12/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SII.2010.5708316

Cite this

Taghvaei, S., Hirata, Y., & Kosuge, K. (2010). Vision-based human state estimation to control an intelligent passive walker. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 146-151). [5708316] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708316

Vision-based human state estimation to control an intelligent passive walker. / Taghvaei, Sajjad; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 146-151 5708316 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Taghvaei, S, Hirata, Y & Kosuge, K 2010, Vision-based human state estimation to control an intelligent passive walker. in 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings., 5708316, 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, pp. 146-151, 3rd International Symposium on System Integration, SII 2010, Sendai, Japan, 10/12/21. https://doi.org/10.1109/SII.2010.5708316

Taghvaei S, Hirata Y, Kosuge K. Vision-based human state estimation to control an intelligent passive walker. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 146-151. 5708316. (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). doi: 10.1109/SII.2010.5708316

Taghvaei, Sajjad ; Hirata, Yasuhisa ; Kosuge, Kazuhiro. / Vision-based human state estimation to control an intelligent passive walker. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 146-151 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

@inproceedings{137cbe2541bd481db48e44fd8c058a36,

title = "Vision-based human state estimation to control an intelligent passive walker",

abstract = "The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are experimented with a passive-type intelligent walker referred to as {"}RT Walker{"}, equipped with servo brakes.",

author = "Sajjad Taghvaei and Yasuhisa Hirata and Kazuhiro Kosuge",

year = "2010",

month = dec,

day = "1",

doi = "10.1109/SII.2010.5708316",

language = "English",

isbn = "9781424493159",

series = "2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings",

pages = "146--151",

booktitle = "2010 IEEE/SICE International Symposium on System Integration",

note = "3rd International Symposium on System Integration, SII 2010 ; Conference date: 21-12-2010 Through 22-12-2010",

}

TY - GEN

T1 - Vision-based human state estimation to control an intelligent passive walker

AU - Taghvaei, Sajjad

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

PY - 2010/12/1

Y1 - 2010/12/1

N2 - The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are experimented with a passive-type intelligent walker referred to as "RT Walker", equipped with servo brakes.

AB - The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are 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=79952785654&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79952785654&partnerID=8YFLogxK

U2 - 10.1109/SII.2010.5708316

DO - 10.1109/SII.2010.5708316

M3 - Conference contribution

AN - SCOPUS:79952785654

SN - 9781424493159

T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

SP - 146

EP - 151

BT - 2010 IEEE/SICE International Symposium on System Integration

T2 - 3rd International Symposium on System Integration, SII 2010

Y2 - 21 December 2010 through 22 December 2010

ER -

Vision-based human state estimation to control an intelligent passive walker

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this