Estimation of the Center of Mass with Kinect and Wii Balance Board

Alejandro González 1 Mitsuhiro Hayashibe 1 Philippe Fraisse 1, 2
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 : Center of mass (CoM) trajectory is important during standing and walking since it can be used as an index for stability and fall prediction. Unfortunately current methods for CoM estimation require the use of specialized equipment (such as motion capture and force platforms) in controlled environments. This paper aims at applying the statically equivalent serial chain (SESC) method to obtain CoM position using widely available and portable hardware; a Microsoft's Kinect and a Nintendo's Wii balance board. During identification, CoM is approximated by CoP measurements and the virtual chain is created for able-bodied subjects. The result demostrates that the SESC method can be applied outside the laboratory environment using a Kinect. Cross-validation of the identified model was performed to evaluate the accuracy of the method. Results obtained of five subjects are shown and discussed.
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Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.1023-1028, 2012, 〈http://www.iros2012.org/site/〉
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Alejandro González, Mitsuhiro Hayashibe, Philippe Fraisse. Estimation of the Center of Mass with Kinect and Wii Balance Board. IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.1023-1028, 2012, 〈http://www.iros2012.org/site/〉. 〈lirmm-00734629〉

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