Development and Evaluation of a Kinect-Based Motion Recognition System based on Kalman Filter for Upper-Limb Assistive Device

Yun Ting Liao, Hao Yang, Hee Hyol Lee, Eiichiro Tanaka

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

There is a population in the world who loses the function of upper extremity due to the accidence or disease. The upper-extremity disorders significantly reduce the people's quality of life due to losing the ability to carry out the activities of daily living, which mostly require the upper-limb function. Therefore, the needs of the upper-limb assistance devices for the upper extremity increased. In this research, we proposed a motion intention recognition system based on the Kinect® v2 sensor. The sensor directly detected the user's motion and further control the device with the corresponding angles instead of using the pre-trajectory to control the device. Since the body dimensions have the individual difference, we considered the unconstrained user-device interface by using two pressure sensor trays on each robot arm to support the user's forearm and upper arm, respectively. The unconstrained user-device system can slightly compensate not only the individual difference but the control error. Therefore, the unconstrained user-device model was established to obtain the relationship between the user and the device, and further control the device using the recorded user's motion. Additionally, the Kinect® sensor can capture the coordination of human joints and further calculate the arm length of the user, which can realize the adaptivity of different user. To realize the real-time control and assistance, the Kalman filter which has prediction function was exploited. The feasibility of assistance was confirmed by the system response. The results proved that the proposed motion recognition system and the unconstrained user-device system can successfully provide adequate assistance with a lesser time delay compared with the system without Kalman filter.

本文言語English
ホスト出版物のタイトル2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1621-1626
ページ数6
ISBN(電子版)9784907764678
DOI
出版ステータスPublished - 2019 9
イベント58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 - Hiroshima, Japan
継続期間: 2019 9 102019 9 13

出版物シリーズ

名前2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019

Conference

Conference58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
国/地域Japan
CityHiroshima
Period19/9/1019/9/13

ASJC Scopus subject areas

  • 人工知能
  • 産業および生産工学
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 器械工学

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