Performance improvement for posture estimation using a 3D range camera for standing-up motion assist robot

As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results have been reported in our previous paper. This paper describes the improvement on the estimation method to realize stable and accurate detection. The experimental results show the effectiveness of the improved method for posture estimation for standing-up motion.