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The tonic postural system guarantees the stability of the human body in upright stance and during locomotion. It is considered as a complex organization which involves several internal systems and has multiple sources of information. In this paper, we provide a review of techniques and materials for human stability assessment. The primary tools to record and evaluate human sways in static posture...
This paper presents some theoretical and experimental physio-pathological aspects of certain behaviors on patient bipodal posture. In the first part of paper, aspects of ocular physio-pathology are presented in relation to the level and form of impaired visual function of the patient. Experimental structure and the evaluation are issues presented in the second part of the paper. Experimental structure...
Analysis of human movement provides systematic and quantitative information of movement. A number of tools and methods have been proposed to detect events that occur during walking. The events are then used to calculate spatiotemporal parameters (STP), commonly used for the characterization of gait. Conventional video cameras were proposed as an alternative for gait event detection. However, the accuracy...
Latency, measured from the user's motion to the display output, causes virtual reality cybersickness and decreases task performance. However, the effect of small delay has not been investigated sufficiently. Therefore the purpose of this study was to reveal the effect of a small latency on the subjects. The subjects were asked to stand on the force plate with one foot so that the length of body sway...
It has been shown that latency from a virtual reality (VR) user's motion to the display output leads to VR sickness, and in turn decreases the task performance. However, the effects of small delays under 13 ms have not been investigated as the VR systems have not been able to achieve these small latency values. The purpose of this study is to reveal the effects of small latencies on head mounted display...
The automatic Balance Evaluator and Rehabilitation (ABER) is a general term that covers all the techniques used to quantify postural control in upright stance in either static or dynamic conditions. Among them, Automatic Balance Evaluator and Rehabilitation is a noninvasive specialized clinical assessment technique used to quantify the central nervous system adaptive mechanisms (sensory, motor and...
This paper presents an approach to stabilization control using image feature tracking for biped walking robot. The authors have developed several vision-based control for dynamic balance and stabilizing the body motion of biped walking robot. For example, the ground reaction force was estimated from visual target position in camera image. However, in our past developments, some landmark object is...
This paper discusses visual servo system for ball dribbling by using bipedal robot "Nao". Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve...
The increase in care-receiver/caregiver ratio is becoming a social problem in Japan, one factor in which is the increase in the number of falls in the elderly. The purpose of this study is to develop a balance training ability system for fall prevention. To effectively improve balance ability while walking, dynamic training specialized for somatic sensation is useful. We developed a system that greatly...
The paper presents a recovery control method based on visually estimated foot sole floating angle for biped walking robots. By using visual scene recognition through image processing, the floating angle of foot sole can be indirectly estimated, and that means the critical state of falling-down motion is able to be detected without force sensation. According to estimated foot sole floating angle, the...
The paper presents a novel landing foot angle detection for biped walking robot under uneven ground environments. The authors have past proposed a vision-based motion stabilization method with considering landing foot angle. However, since the landing angle is calculated from internal relative angle between both feet, the past method causes accumulated error of the estimation of landing foot angle...
The paper presents an estimation method for evaluating stable contact to floor ground by using visual environmental information. In our past papers, the vision-based reaction force feedback and ZMP estimation based on visual feature position has been developed. The appropriate flexibility around foot sole are given mechanically, and then the zero moment point (ZMP) can be detected by using vision...
The paper describes experimental study of vision-based ZMP (zero moment point) detection for biped walking robot. The ZMP is a popular index for evaluating dynamic equilibrium of walking motion in biped robot system, and it is generally detected by force or pressure sensor near the foot sole. In our past research, vision-based ZMP detection method has been proposed by detecting the visual target movement...
This paper presents an image-based visual feedback control for stabilizing the motion of biped walking robot. The appropriate flexibility around ankle joints are given mechanically, and then the zero moment point (ZMP) can be detected by using only vision sensor mounted on the robot in the proposed approach. In the paper, the image-based visual feedback control is designed for getting compliant and...
This paper presents a novel interface and set of techniques enabling users to interact via the feet with augmented floor surfaces. The interface consists of an array of instrumented floor tiles distributed over an area of several square meters. Intrinsic force sensing is used to capture foot-floor contact at resolutions as fine as 1 cm, for use with floor-based multimodal touch surface interfaces...
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