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Various assistive machines have been developed to prevent falling accidents of the elderly. In order to achieve advanced support using robot technology, it is important to acquire data or real-time state estimation of user's various motions. However, a lot of expensive and sophisticated sensors utilized to estimate user's state accurately are difficult to use in general households or institutions...
Human action/behavior classification plays an important role for controlling systems having interaction with human users. Safety and dependability of such systems are crucial especially for walking assist systems. In this paper, upper body joint model of a user of a walking assist system is extracted using a depth sensor and a probabilistic model is proposed to detect possible non-walking states that...
The cycling wheelchair is a new type of mobility aid for lower-limb-disabled individuals. Patients can drive the cycling wheelchair by pressing the front pedals with their lower limbs. The device enables patients to effectively rehabilitate their disabled legs and partake in outdoor activities. However, lower-limb-disabled individuals cannot move both legs with equal ease. Typical hemiplegia patients...
In recent years, robots working in human living space with human-robot interactions are actively studied. To these robots, it is important to perform environmental cognition not only building environment map for autonomous motion of the robots but also estimating presences of human around the robots. In this study, by utilizing human state estimation function and SLAM based mapping technology, a concept...
Though several kinds of equipment such as wheelchairs and electrical wheelchairs exist to support lower limb disabilities, there were still problems because of disuse of lower limbs that limits effect of rehabilitation and also cause disuse syndrome. To overcome these problems, cycling-wheelchair was invented by Handa et al. It is a pedal-driven wheelchair and can be applied to most of the patients...
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...
In this paper, we propose a new walking support system based on cooperation between wearable-type and cane-type walking support systems for supporting hemiplegia patients. In this system, we want to realize several functions such as swing phase support, navigation, fall prevention and sit-to-stand assist by controlling each walking support system cooperatively. As the first challenge of our research,...
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