Graduation Year
2012
Document Type
Thesis
Degree
M.S.M.E.
Degree Granting Department
Mechanical Engineering
Major Professor
Kyle Reed, Ph.D.
Co-Major Professor
Rasim Guldiken, Ph.D.
Committee Member
Craig Lusk, Ph.D
Keywords
Center of Mass, Depth, Kinect, Skeleton, Visual Feedback
Abstract
Abstract
This project illustrates the use of the human's ability to balance according to his center of gravity as demonstrated in two applications. The center of gravity of a human is explained in detail in order to use it in controlling the Aldebaran NAO robot and in the robot-assisted balance training.
The first application explains how a humanoid robot can mimic a human's movements via a three dimensional depth sensor where the sensor analyzes the position of a user's limbs and how the robot can lift one foot and balance on the other by redistributing the its body mass when the user lifts his foot. The results showed that this algorithm enabled NAO to successfully mimic the users' arms, and was able to balance on one foot by repositioning its center of mass.
The second application investigates how individuals with stroke lean when undergoing robot-assisted balance training. In some instances, they can develop inappropriate leaning behaviors during the training. The Kinect sensor is used to assist in optimizing patients' results by integrating it with the training program. The results showed that the Kinect sensor can improve the efficiency of the process by giving users graphical information about their mass distribution and whether they are leaning correctly or not.
Scholar Commons Citation
Manasrah, Ahmad Adli, "Human Motion Tracking for Assisting Balance Training and Control of a Humanoid Robot" (2012). USF Tampa Graduate Theses and Dissertations.
https://digitalcommons.usf.edu/etd/4141
Included in
American Studies Commons, Mechanical Engineering Commons, Medicine and Health Sciences Commons
