Sensor-Based Estimation of Human Motion for Control Synchronization

Bernard Espiau 1, 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper addresses the question of embedded human motion sensing, in the framework of interaction with an artificial controller, either for activating a robot or for stimulating impaired human links. After a short presentation of the sensing problem and of the related measurement technologies, we describe the two main applications we have considered. The first one is the early detection of the paraplegic's intention in a Sit-to-Stand Transfer problem; here the actuation consists of the electro-stimulation of the knee extensors of the patient. The second is the estimation in real time of a variable allowing to synchronize the motion on a robot leg or of the impaired leg of a stroke patient on a human stationary walking gait. A few perspectives are drawn in the conclusion.
Type de document :
Document associé à des manifestations scientifiques
RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive Communication , Sep 2009, Toyama, Japan. pp.4
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Bernard Espiau. Sensor-Based Estimation of Human Motion for Control Synchronization. RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive Communication , Sep 2009, Toyama, Japan. pp.4. 〈inria-00414035〉

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