ANG, a family of multi-mode,

Size: px

Start display at page:

Download "ANG, a family of multi-mode,"

Stuart Pearson
6 years ago
Views:

1 ANG, a family of multi-mode, low cost walking aid J-P. Merlet COPRIN Project team INRIA 1/9. p.1/6

2 Motivation 2/9. p.2/6

3 Motivation rapid increase of the number of elderly 2/9. p.2/6

4 Motivation rapid increase of the number of elderly 2.5 millions of fall per year 2/9. p.2/6

5 Motivation rapid increase of the number of elderly 2.5 millions of fall per year in France direct consequence of a fall: 9300 deaths per year 2/9. p.2/6

6 Motivation rapid increase of the number of elderly 2.5 millions of fall per year 80% of domestic accidents 2/9. p.2/6

7 Motivation rapid increase of the number of elderly 2.5 millions of fall per year 80% of domestic accidents walking pattern is a good indication of the general state of health 2/9. p.2/6

8 Motivation rapid increase of the number of elderly 2.5 millions of fall per year 80% of domestic accidents walking pattern is a good indication of the general state of health but doctors lack of tools to objectively assess the quality of walking pattern 2/9. p.2/6

9 Motivation rapid increase of the number of elderly 2.5 millions of fall per year 80% of domestic accidents walking pattern is a good indication of the general state of health but doctors lack of tools to objectively assess the quality of walking pattern they are missing rare events that indicate emerging pathologies 2/9. p.2/6

10 Motivation Objectives: develop a walker-type support system 2/9. p.2/6

11 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot 2/9. p.2/6

12 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance 2/9. p.2/6

13 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance interfaces: large diversity needed to fit the mental/physical abilities 2/9. p.2/6

14 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance interfaces: large diversity needed to fit the mental/physical abilities fall detection/prevention 2/9. p.2/6

15 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance interfaces: large diversity needed to fit the mental/physical abilities fall detection/prevention monitoring tools: allows for daily monitoring of walking pattern 2/9. p.2/6

16 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance interfaces: large diversity needed to fit the mental/physical abilities fall detection/prevention monitoring tools: allows for daily monitoring of walking pattern smart device: should be able to cooperate with other assistance agents 2/9. p.2/6

17 Motivation Objectives: develop a walker-type support system low-cost: humanoid robot low intrusitivity, nice design: social acceptance interfaces: large diversity needed to fit the mental/physical abilities fall detection/prevention monitoring tools: allows for daily monitoring of walking pattern smart device: should be able to cooperate with other assistance agents other tasks... 2/9. p.2/6

18 Solution 3/9. p.3/6

19 Solution Starting point: available Rollator, first step when motricity starts to fail 3/9. p.3/6

20 Solution Starting point: available Rollator, first step when motricity starts to fail already accepted devices close to wheelchair functionalities may be transferred low cost hardware 3/9. p.3/6

21 ANG-light 4/9. p.4/6

22 ANG-light Added: 3D accelerometer+gyro GPS rear wheels encoders fit-pc+ IR interface 4/9. p.4/6

23 ANG-light Objectives: fall detection: based on abnormal velocity/acceleration 4/9. p.4/6

24 ANG-light Objectives: fall detection: based on abnormal velocity/acceleration walking analysis: walking aid trajectory reconstructed from accelerometer and encoders measurements 4/9. p.4/6

25 ANG-light Typical records for a straight line trajectory 8.5 y ωz x /9. p.4/6

26 ANG-light Objectives provide a gold standard for "normal" walking patterns with/without walking aid measure walking pattern on elderly people with the walking aid infer walking pattern without the walking aid determine indexes that are pertinent for doctors to qualify walking patterns detect abnormal events and report them to doctors 4/9. p.4/6

27 ANG-light Methodology 4/9. p.4/6

28 ANG-light Methodology In direct collaboration with the CHU hospital at Nice first phase, 2011: trial at INRIA on 24 subjects (age: between 20 and 50 years) 4/9. p.4/6

29 ANG-light Methodology In direct collaboration with the CHU hospital at Nice first phase, 2011: trial at INRIA on 24 subjects (age: between 20 and 50 years) instrumented: accelerometer/gyro on the knees and wrists, force sensors in the shoes, video recorded records on trajectories with/without the walking aid performed twice, random order 4/9. p.4/6

30 ANG-light Methodology In direct collaboration with the CHU hospital at Nice first phase, 2011: trial at INRIA on 24 subjects (age: between 20 and 50 years) instrumented: accelerometer/gyro on the knees and wrists, force sensors in the shoes, video recorded records on trajectories with/without the walking aid performed twice, random order second phase, currently: trials on 30 elderly people at CHU Nice not instrumented same trajectories performed twice with the walker 4/9. p.4/6

31 ANG-light../../../Texte/AEN/Experience /Videos/walk.mpgVideo 4/9. p.4/6

32 ANG-light Objectives: fall detection: based on abnormal velocity/acceleration walking analysis: walking aid trajectory reconstructed from accelerometer and encoders measurements navigation aid 4/9. p.4/6

33 ANG-light Navigation aid walking aid may measure the slope of a sidewalk detect a lowered kerb 4/9. p.4/6

ANG-light detecting/ranking lowered kerb 0.2 0.

34 ANG-light detecting/ranking lowered kerb /9. p.4/6

35 ANG-light Navigation aid walking aid may measure the slope of a sidewalk detect a lowered kerb qualify the quality of the sidewalk surface when using a walking aid or wheelchair 4/9. p.4/6

36 ANG-light An innocuous-looking sidewalk 4/9. p.4/6

37 ANG-light An innocuous-looking sidewalk... and how it feels with a walking aid 4/9. p.4/6

38 ANG-light In summary daily users of the walking aid in a city may provide very interesting information for itinerary planning in this city How can they share this knowledge? 4/9. p.4/6

39 ANG-light In summary daily users of the walking aid in a city may provide very interesting information for itinerary planning in this city How can they share this knowledge? information may be used to update a collaborative map (OpenstreetMap) 4/9. p.4/6

40 ANG-light To validate this concept we have: retrieved the map of INRIA at Sophia-Antipolis from OpenStreetMap used the walking aid all over our site then updated the map with the provided information 4/9. p.4/6

41 ANG-light 4/9. p.4/6

42 ANG-II 5/9. p.5/6

43 ANG-II Starting point: available Rollator Added: 157W motors electromagnetic clutch 5/9. p.5/6

44 ANG-II sensors 8 multidirectionnal IR distance sensors force sensors in the handles 3D accelerometers, GPS light sensors, 2 webcams GPS 5/9. p.5/6

45 ANG-II on board vacuum cleaner pick-up reacher solar panel interface: IR, web, radio,joystick,handle, hand motion 5/9. p.5/6

46 ANG-II /user/merlet/home/robot/deambulateur/videos/rii.mpg 5/9. p.5/6

47 Conclusion Already accepted walking aid may help to provide: on-demand mobility assistance fall detection/prevention, alarm walking diagnosis tool for doctors dynamic map building for itinerary planning navigation aid (but is that necessary?) help for transfer (sit-to-stand) help for domestic tasks... 6/9. p.6/6

the world s most advanced humanoid robot

the world s most advanced humanoid robot 02 : ASIMO V2 : TECHNICAL GUIDE : ROBOT DEVELOPMENT : CONTENTS ROBOT DEVELOPMENT 3 HISTORY OF HUMANOIDS 5 ASIMO v1 7 ASIMO v2 16 THE FUTURE 18 Creating New Mobility