Human State Estimation for Assistive Robots Using a Small Number of Sensors

 In this study, we propose a method to estimate the user’s state utilizing a few inexpensive and simple sensors. We focused on CoG (Center of Gravity) to estimate user’s state, but when utilizing less sensors than required to calculate the human link model parameters, the position of CoG is underspecified. Then we considered the range of value of unknown parameters to calculate candidates of CoG. The range of CoG candidates can become narrow enough to estimate human state in real-time by properly selecting and placing the sensors.