State Estimation Using CoG Candidates for Standing Support System User

Abstract

We propose a state estimation method for standing support system user. Standing support is important especially indoor environment. State estimation make it possible to provide appropriate support depending on users' state. We focus on the CoG (Center of Gravity) position because of its physical significance. However, it needs many sensors to measure the CoG precisely. Then we propose a method to calculate the candidates of CoG using a small number of sensors. In this article, we develop an assistive robot, and propose a state estimation method for the robot user. We validated the proposed method by experiments using a small number of sensors which are set on the robot.