ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols

Omar Salah; Ahmed A. Ramadan; Salvatore Sessa; Ahmed Abo Ismail; Makasatsu Fujie; Atsuo Takanishi

doi:10.1007/s11633-013-0737-6

ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols

Omar Salah^*, Ahmed A. Ramadan, Salvatore Sessa, Ahmed Abo Ismail, Makasatsu Fujie, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to journal › Article › peer-review

29 Citations (Scopus)

Abstract

This paper describes the analysis and design of an assistive device for elderly people under development at the Egypt-Japan 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.

Original language	English
Pages (from-to)	405-413
Number of pages	9
Journal	International Journal of Automation and Computing
Volume	10
Issue number	5
DOIs	https://doi.org/10.1007/s11633-013-0737-6
Publication status	Published - 2013 Oct

Keywords

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

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Applied Mathematics

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10.1007/s11633-013-0737-6

Cite this

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title = "ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols",

abstract = "This paper describes the analysis and design of an assistive device for elderly people under development at the Egypt-Japan 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.",

keywords = "Adaptive neuro-fuzzy inference systems (ANFIS), assistive technologies, inertial measurement units, sensor fusion, sit-to-stand motion analysis",

author = "Omar Salah and Ramadan, {Ahmed A.} and Salvatore Sessa and Ismail, {Ahmed Abo} and Makasatsu Fujie and Atsuo Takanishi",

note = "Funding Information: Manuscript received March 25, 2013; revised July 23, 2013 This work was supported in part by a scholarship provided by the Mission Department, Ministry of Higher Education of the Government of Egypt. Funding Information: The first author acknowledges the Mission Department of the Ministry of Higher Education of Egypt for granting the scholarship to carry out graduate studies in Egypt-Japan University of Science and Technology. We would like also to thank Professor Massimiliano Zecca and all the members of Waseda University for their suggestions, guidance and advice. Finally we would like to give thanks to Kyushu University which offered the first author a short-term travel grant to Japan.",

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doi = "10.1007/s11633-013-0737-6",

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AU - Fujie, Makasatsu

AU - Takanishi, Atsuo

N1 - Funding Information: Manuscript received March 25, 2013; revised July 23, 2013 This work was supported in part by a scholarship provided by the Mission Department, Ministry of Higher Education of the Government of Egypt. Funding Information: The first author acknowledges the Mission Department of the Ministry of Higher Education of Egypt for granting the scholarship to carry out graduate studies in Egypt-Japan University of Science and Technology. We would like also to thank Professor Massimiliano Zecca and all the members of Waseda University for their suggestions, guidance and advice. Finally we would like to give thanks to Kyushu University which offered the first author a short-term travel grant to Japan.

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N2 - This paper describes the analysis and design of an assistive device for elderly people under development at the Egypt-Japan 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.

AB - This paper describes the analysis and design of an assistive device for elderly people under development at the Egypt-Japan 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.

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ANFIS-based sensor fusion system of sit-to-stand for elderly people assistive device protocols

Abstract

Keywords

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