抄録
In this paper, we propose a human modeling method for estimating the user states using intelligent walker. If intelligent walker can recognize the user states, it can select the several functions such as variable motion characteristics function, fall-prevention function, assist functions for standing up and sitting down, and so on, autonomously, so that the users, who do not have professional skills of the intelligent systems, could utilize the walker dependably and practically in real world environment. In this paper, we especially focus on the human modeling method of the user, in which we generate the human linkage model by using the laser range finders attached to the walker and calculate the center of gravity of the human during the usage of the walker. The proposed method is evaluated based on the human motion captured accurately by using the motion capturing system. In addition, the experiments using the walker with laser rang finders show that it can recognize the user states successfully based on the position of the center of gravity derived by the human model.
