RESEARCH ARTICLE

Image-based fall detection and classification of a user with a walking support system

  • Sajjad TAGHVAEI , 1 ,
  • Kazuhiro KOSUGE 2
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  • 1. School of Mechanical Engineering, Shiraz University, Shiraz 71936-16548, Iran
  • 2. Department of Bioengineering and Robotics, Tohoku University, Sendai 980-8579, Japan

Received date: 26 Nov 2016

Accepted date: 13 May 2017

Published date: 11 Jun 2018

Copyright

2018 Higher Education Press and Springer-Verlag GmbH Germany

Abstract

The classification of visual human action is important in the development of systems that interact with humans. This study investigates an image-based classification of the human state while using a walking support system to improve the safety and dependability of these systems. We categorize the possible human behavior while utilizing a walker robot into eight states (i.e., sitting, standing, walking, and five falling types), and propose two different methods, namely, normal distribution and hidden Markov models (HMMs), to detect and recognize these states. The visual feature for the state classification is the centroid position of the upper body, which is extracted from the user’s depth images. The first method shows that the centroid position follows a normal distribution while walking, which can be adopted to detect any non-walking state. The second method implements HMMs to detect and recognize these states. We then measure and compare the performance of both methods. The classification results are employed to control the motion of a passive-type walker (called “RT Walker”) by activating its brakes in non-walking states. Thus, the system can be used for sit/stand support and fall prevention. The experiments are performed with four subjects, including an experienced physiotherapist. Results show that the algorithm can be adapted to the new user’s motion pattern within 40 s, with a fall detection rate of 96.25% and state classification rate of 81.0%. The proposed method can be implemented to other abnormality detection/classification applications that employ depth image-sensing devices.

Cite this article

Sajjad TAGHVAEI , Kazuhiro KOSUGE . Image-based fall detection and classification of a user with a walking support system[J]. Frontiers of Mechanical Engineering, 2018 , 13(3) : 427 -441 . DOI: 10.1007/s11465-017-0465-7

Acknowledgement

The experiments were conducted with the help of Dr. Ryushiro Kawazoe, who is an experienced physical therapist and CEO of Kumasuma Inc., Dr Takuro Hatsukari from the Paramount Bed Company, Tokyo 136-8670, Japan, and the members of the System Robotics Laboratory, Tohoku University, Japan.
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