Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study

Alejandro González 1 Mitsuhiro Hayashibe 1 Emel Demircan 2 Philippe Fraisse 1, 3
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Center of mass (CoM) estimation can be used to evaluate human stability during rehabilitation. A personalized estimation can be obtained using the serial equivalent static chain (SESC) method, calibrated using a series of static postures. The estimation accuracy is dependent on the number and quality of poses used during calibration. Currently, this limits the method's application to unimpaired individuals. We present a preliminary study of a SESC identified in a multi-contact scenario during a Sit-to-Stand task. Stanford's SAI (Simulation and Active Interface) platform was used to emulate motion and predict relevant reaction forces. The CoM estimation obtained is valid for motions similar to those used during identification. Using a threedimensional model, the estimated mean error was less than 26 millimetres for a Sit-to-Stand task involving displacements along all axes. As such, personalized CoM estimation can be available for patients with a limited range of whole body motion.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00860646
Contributor : Alejandro González <>
Submitted on : Tuesday, September 10, 2013 - 6:12:42 PM
Last modification on : Thursday, February 28, 2019 - 2:38:23 PM
Long-term archiving on : Thursday, April 6, 2017 - 5:24:43 PM

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Alejandro González, Mitsuhiro Hayashibe, Emel Demircan, Philippe Fraisse. Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study. SMC: Conference on Systems, Man, and Cybernetics, Oct 2013, Manchester, United Kingdom. pp.4718-4723. ⟨lirmm-00860646⟩

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