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침대 로봇의 3차원 자세 추정 및 개선을 위한 자세 천이 필터 설계 연구 KCI 등재

A Study on Design of Posture Transition Filter for 3D Human Posture Estimation and Refinement on Robotic Bed

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로봇학회논문지 (The Journal of Korea Robotics Society)
한국로봇학회 (Korea Robotics Society)
초록

As we become an aging society, the number of elderly patients continues to increase. Pressure sores that can easily occur in patients with trauma cause serious socio-economic problems. In general, prevention of bedsores through predicting the patient's posture is being developed. Developed method usually use artificial intelligence techniques to estimate the patient’s posture by measured pressure images in the mattress. In this method, it has a problem the reduction of estimation accuracy when posture of patient is changed. Therefore, it is necessary to use the filter of pressure images in the position transition of patient. In this paper, we propose an algorithm to predict the patient's posture, and an algorithm to reduce the ambiguity that can occur in the patient's posture transition section. By obtaining stable data through this algorithm, learning/prediction stability of the neural network can be expected, and prediction performance is improved accordingly. Through experiments, the effectiveness of the algorithm was verified.

목차
Abstract
1. 서 론
2. 자세 예측 알고리즘
    2.1 자세 예측 시스템
    2.2 학습 모델
3. 동적 모션 인식 및 필터 설계
    3.1 자세 예측 실험
    3.2 자세 예측 결과 분석
    3.3 자세천이구간 필터 설계
    3.4 자세 천이 구간 필터 적용 결과
4. 결론 및 추후 연구
References
저자
  • 이종일(KIRO, Pohang) | Jong-il Lee
  • 한종부(KRISO, Daejeon) | Jong-Boo Han
  • 구재완(KIRO, Pohang) | Jae Wan Koo
  • 최재원(KIRO, Pohang) | Jae-Won Choi
  • 함제훈(KIRO, Pohang) | Jehun Hahm
  • 양견모(KIRO, Pohang) | Kyon-Mo Yang
  • 손동섭(KIRO, Pohang) | Dong-Seop Sohn
  • 서갑호(KIRO, Pohang) | Kap-Ho Seo Corresponding author