転倒リスク評価のための安定領域の凸計算：立ち上がり動作を対象としたケーススタディ
Convex Computation of the Basin of Stability to Measure the Likelihood of Falling: A Case Study on the Sit-to-Stand Task
力学系理論の最近の進展を活用し、人間の動作データから制御入力を合成して安定領域（失敗を回避できる摂動の集合）を個人ごとに自動計算する枠組みを提案し、15名の立ち上がり動作で安定性の違いを識別できることを示した。
著者: Victor Shia, Talia Moore, Ruzena Bajcsy, Ram Vasudevan
分類: eess.SY, cs.RO, cs.SY, math.DS, math.OC
原文アブストラクト
Locomotion in the real world involves unexpected perturbations, and therefore requires strategies to maintain stability to successfully execute desired behaviours. Ensuring the safety of locomoting systems therefore necessitates a quantitative metric for stability. Due to the difficulty of determining the set of perturbations that induce failure, researchers have used a variety of features as a proxy to describe stability. This paper utilises recent advances in dynamical systems theory to develop a personalised, automated framework to compute the set of perturbations from which a system can avoid failure, which is known as the basin of stability. The approach tracks human motion to synthesise a control input that is analysed to measure the basin of stability. The utility of this analysis is verified on a Sit-to-Stand task performed by 15 individuals. The experiment illustrates that the computed basin of stability for each individual can successfully differentiate between less and more stable Sit-to-Stand strategies.
