Upper Body Posture Estimation for Standing Function Restoration

Gaël Pages 1 Nacim Ramdani 2, 1 Philippe Fraisse 1 David Guiraud 1
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A methodology is presented for upper-body posture estimation in the sagittal plane from force and torque measurements exerted on handles during human standing, in the hypothesis of quasi-static equilibrium. The method consists in setting up constraints related to the geometric equations and the hand-handle interaction. All measured quantities are subject to an uncertainty assumed unknown but bounded. The set membership estimation problem is solved via interval analysis. Guaranteed uncertainty bounds are computed for the estimated postures. The methodology is validated experimentally with actual data. The results obtained are very acceptable.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, Apr 2007, Roma, Italy. pp.3742-3747, 2007, 〈http://icra2007.ieee-ras.org〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00146414
Contributeur : Philippe Fraisse <>
Soumis le : mardi 15 mai 2007 - 08:44:03
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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  • HAL Id : lirmm-00146414, version 1

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Gaël Pages, Nacim Ramdani, Philippe Fraisse, David Guiraud. Upper Body Posture Estimation for Standing Function Restoration. ICRA: International Conference on Robotics and Automation, Apr 2007, Roma, Italy. pp.3742-3747, 2007, 〈http://icra2007.ieee-ras.org〉. 〈lirmm-00146414〉

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