ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols

Omar Salah, Ahmed A. Ramadan, Salvatore Sessa, Ahmed Abo Ismail, Makasatsu Fujie, Atsuo Takanishi

    Research output: Contribution to journalArticle

    19 Citations (Scopus)

    Abstract

    This paper describes the analysis and design of an assistive device for elderly people under development at the Egypt-Japan University of Science and Technology (E-JUST) named E-JUST assistive device (EJAD). Several experiments were carried out using a motion capture system (VICON) and inertial sensors to identify the human posture during the sit-to-stand motion. The EJAD uses only two inertial measurement units (IMUs) fused through an adaptive neuro-fuzzy inference systems (ANFIS) algorithm to imitate the real motion of the caregiver. The EJAD consists of two main parts, a robot arm and an active walker. The robot arm is a 2-degree-of-freedom (2-DOF) planar manipulator. In addition, a back support with a passive joint is used to support the patient's back. The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture. The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient. A control scheme is proposed to control the system motion based on practical measurements taken from the experiments. A computer simulation showed a relatively good performance of the EJAD in assisting the patient.

    Original languageEnglish
    Pages (from-to)405-413
    Number of pages9
    JournalInternational Journal of Automation and Computing
    Volume10
    Issue number5
    DOIs
    Publication statusPublished - 2013 Oct

    Fingerprint

    Elderly People
    Sensor Fusion
    Adaptive Neuro-fuzzy Inference System
    Units of measurement
    Fuzzy inference
    Fusion reactions
    Network protocols
    Sensors
    Robots
    Motion
    Fuzzy systems
    Japan
    Manipulators
    Unit
    Robot
    Experiments
    Assistive Technology
    Inertial Sensors
    Motion Capture
    Computer simulation

    Keywords

    • Adaptive neuro-fuzzy inference systems (ANFIS)
    • assistive technologies
    • inertial measurement units
    • sensor fusion
    • sit-to-stand motion analysis

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Applied Mathematics
    • Modelling and Simulation

    Cite this

    ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols. / Salah, Omar; Ramadan, Ahmed A.; Sessa, Salvatore; Ismail, Ahmed Abo; Fujie, Makasatsu; Takanishi, Atsuo.

    In: International Journal of Automation and Computing, Vol. 10, No. 5, 10.2013, p. 405-413.

    Research output: Contribution to journalArticle

    Salah, Omar ; Ramadan, Ahmed A. ; Sessa, Salvatore ; Ismail, Ahmed Abo ; Fujie, Makasatsu ; Takanishi, Atsuo. / ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols. In: International Journal of Automation and Computing. 2013 ; Vol. 10, No. 5. pp. 405-413.
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