TOWARDS A RELIABLE POSTURE ESTIMATION FOR STANDING IN PARAPLEGIA

摘要

A new approach aiming posture estimation using only forces measurements exerted on handles and geometric constraints is outlined. The behavior of the system is modeled by an ordinary differential equation (ODE) which includes parameters whose value is uncertain. The insufficiency in precision while computation may affect safe decision making. Interval arithmetic is a method for performing computations on measurements that are only known within a fixed error range. The uncertainties are propagated throughout the calculation to obtain safe bounds interval domains. In order to investigate the feasibility of posture estimation by interval methods in this particular case, a simplified model of the human body was developed, in regards to a three degrees of freedom link-segment model.