転倒予防に向けた軌道と体幹動揺の予測
Trajectory and Sway Prediction Towards Fall Prevention
人の体幹の動揺と周囲の状況から将来の軌道と動揺を予測し、転倒予防に応用する手法を提案した研究。
著者: Weizhuo Wang, Michael Raitor, Steve Collins, C. Karen Liu, Monroe Kennedy
分類: cs.RO
原文アブストラクト
Falls are the leading cause of fatal and non-fatal injuries, particularly for older persons. Imbalance can result from the body's internal causes (illness), or external causes (active or passive perturbation). Active perturbation results from applying an external force to a person, while passive perturbation results from human motion interacting with a static obstacle. This work proposes a metric that allows for the monitoring of the person's torso and its correlation to active and passive perturbations. We show that large changes in the torso sway can be strongly correlated to active perturbations. We also show that we can reasonably predict the future path and expected change in torso sway by conditioning the expected path and torso sway on the past trajectory, torso motion, and the surrounding scene. This could have direct future applications to fall prevention. Results demonstrate that the torso sway is strongly correlated with perturbations. And our model is able to make use of the visual cues presented in the panorama and condition the prediction accordingly.
