Vision-based human state estimation to control an intelligent passive walker

The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user´s state is estimated to be whether seated, standing up, falling down or walking. The controller activates the servo brakes in sitting, standing and falling situations as a support to insure both comfort and safety of the user. Estimation methods are experimented with a passive-type intelligent walker referred to as “RT Walker”, equipped with servo brakes.