Human Motion Tracking for Assisting Balance Training and Control of a Humanoid Robot

Abstract This project illustrates the use of the human\u27s 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\u27s movements via a three dimensional depth sensor where the sensor analyzes the position of a user\u27s 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\u27 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\u27 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