ANFIS-based Sensor Fusion System of Sit-to-stand for Elderly People Assistive Device Protocols  

作　　者：Omar Salah Ahmed A.Ramadan Salvatore Sessa Ahmed Abo Ismail Makasatsu Fujie Atsuo Takanishi 

机构地区：[1]Egypt-Japan University of Science and Technology, New Borg-El-Arab City [2]Faculty of Engineering, Tanta University [3]Faculty of Science and Engineering, Waseda University

出　　处：《International Journal of Automation and computing》2013年第5期405-413,共9页国际自动化与计算杂志（英文版）

基　　金：supported in part by a scholarship provided by the Mission Department;Ministry of Higher Education of the Government of Egypt

摘　　要：This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.

关 键 词：Adaptive neuro-fuzzy inference systems（ANFIS） sensor fusion assistive technologies sit-to-stand motion analysis inertial measurement units 

分 类 号：TH789[机械工程—仪器科学与技术] TP212[机械工程—精密仪器及机械]