Estimation of the direction of travel using a wireless IMU for route switching in a rail-type walking support system

Murase, Shota, Manríquez, Ricardo, Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Ankit, Ravankar, Victorio, Salazar Luces Jose and Hirata, Yasuhisa 2024. Estimation of the direction of travel using a wireless IMU for route switching in a rail-type walking support system. Presented at: Robotics and Mechatronics Lecture 2024, Japan, 29 May - 01 June 2024. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). , vol.2024 Japan Society of Mechanical Engineers, 2A2-I05. 10.1299/jsmermd.2024.2a2-i05

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Abstract

Previously path switching was done manually by remote control on Yorisoi Robot, the walking support robot. In this paper, we have automated it by estimating the user’s walking direction. This is expected to enable users with walking disabilities to concentrate on their own walking. We estimate the user’s walking direction by using machine learning on the upper body movements obtained from the wireless IMU sensors. And, the training data (upper body movements and the user’s walking direction) are collected during the use of Yorisoi Robot in order to estimate the appropriate walking direction for each individual user. An experimental result showed that the method is able to successfully estimate the user’s direction about 93% and switch paths about 88%. This confirms that the estimation of the user ’s walking direction using wireless IMU sensors works well for path switching in Yorisoi Robot.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Publisher:	Japan Society of Mechanical Engineers
ISSN:	2424-3124
Last Modified:	16 Jan 2025 10:45
URI:	https://orca.cardiff.ac.uk/id/eprint/175312

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