Online identification and visualization of the statically equivalent serial chain via constrained Kalman filter

Alejandro Gonzalez, Mitsuhiro Hayashibe, Philippe Fraisse

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

8 Citations (Scopus)

Abstract

A human's center of mass (CoM) trajectory is useful to evaluate the dynamic stability during daily life activities such as walking and standing up. To estimate the subject-specific CoM position in the home environment, we make use of a statically equivalent serial chain (SESC) developed with a portable measurement system. In this paper we implement a constrained Kalman filter to achieve an online estimation of the SESC parameters while accounting for the human body's bilateral symmetry. This results in constraining SESC parameters to be consistent with the human skeletal model used. The proposed identification method can inform the subject or the therapist, in real-time, about the quality of the on-going CoM estimation. This information can be helpful to reduce the identification time and establish a personalized protocol. A Kinect is used as a markerless motion capture system for measuring limb orientations while the Wii board is used to measure the subject's center of pressure (CoP) during the identification phase. CoP measurements and Kinect data were recorded for four able-bodied subjects. The recorded data was then given to the proposed recursive algorithm to identify the parameters of the SESC online. A cross-validation test was performed to verify the identification performance. The results for these subjects are shown and discussed.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages5323-5328
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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