Center of mass estimation for rehabilitation in a multi-contact environment: A simulation study

Alejandro González, Mitsuhiro Hayashibe, Emel Demircan, Philippe Fraisse

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Center of mass (CoM) estimation can be used to evaluate human stability during rehabilitation. A personalized estimation can be obtained using the serial equivalent static chain (SESC) method, calibrated using a series of static postures. The estimation accuracy is dependent on the number and quality of poses used during calibration. Currently, this limits the method's application to unimpaired individuals. We present a preliminary study of a SESC identified in a multi-contact scenario during a Sit-to-Stand task. Stanford's SAI (Simulation and Active Interface) platform was used to emulate motion and predict relevant reaction forces. The CoM estimation obtained is valid for motions similar to those used during identification. Using a threedimensional model, the estimated mean error was less than 26 millimetres for a Sit-to-Stand task involving displacements along all axes. As such, personalized CoM estimation can be available for patients with a limited range of whole body motion.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Pages4718-4723
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: 2013 Oct 132013 Oct 16

Publication series

NameProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Other

Other2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
CountryUnited Kingdom
CityManchester
Period13/10/1313/10/16

Keywords

  • Balance
  • Center of mass
  • Human balance
  • Kalman filter
  • Multiple contacts
  • Operational space
  • Parameter identification

ASJC Scopus subject areas

  • Human-Computer Interaction

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