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Authors: Jian Huang 1 ; Zhen Shu 1 ; Wenxia Xu 1 and Samer Mohammed 2

Affiliations: 1 Huazhong University of Science and Technology, China ; 2 University Paris Est Créteil (UPEC), China

Keyword(s): Walking-Aid Robot, Wearable Sensors, Fall Detection.

Abstract: An omni-directional walking-aid robot is developed for the elderly in this study. A motion control strategy of walking-aid robot based on observing human status by wearable sensors is proposed. During normal walking, the robot is controlled by a conventional admittance control scheme. When the tendency of a fall is detected, the robot will immediately react to prevent the user from falling down. The distance between the human Centre of Pressure (COP) and the midpoint of two human feet is assumed to be a significant feature to detecting the fall events. Dubois possibility theory is applied to describe the membership function of ‘normal walking’ state. A threshold based fall detection approach is obtained from online evaluation of the walking status. Finally, experiments demonstrate the validity of the proposed strategy.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Huang, J.; Shu, Z.; Xu, W. and Mohammed, S. (2013). Human Motion Assistance using Walking-aid Robot and Wearable Sensors. In Proceedings of the International Congress on Neurotechnology, Electronics and Informatics (NEUROTECHNIX 2013) - RoboAssist; ISBN 978-989-8565-80-8, SciTePress, pages 199-204. DOI: 10.5220/0004664101990204

@conference{roboassist13,
author={Jian Huang. and Zhen Shu. and Wenxia Xu. and Samer Mohammed.},
title={Human Motion Assistance using Walking-aid Robot and Wearable Sensors},
booktitle={Proceedings of the International Congress on Neurotechnology, Electronics and Informatics (NEUROTECHNIX 2013) - RoboAssist},
year={2013},
pages={199-204},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004664101990204},
isbn={978-989-8565-80-8},
}

TY - CONF

JO - Proceedings of the International Congress on Neurotechnology, Electronics and Informatics (NEUROTECHNIX 2013) - RoboAssist
TI - Human Motion Assistance using Walking-aid Robot and Wearable Sensors
SN - 978-989-8565-80-8
AU - Huang, J.
AU - Shu, Z.
AU - Xu, W.
AU - Mohammed, S.
PY - 2013
SP - 199
EP - 204
DO - 10.5220/0004664101990204
PB - SciTePress

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