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Kiwii Project

Kiwii Project . Kahori Kita Yoshiyuki Sato John Rocamora Frank Schumann Scott Yang. Motivation. Which joints are more important for balancing? Is vision or proprioception more important for balancing?. Setup. Center of M ass. Center of Pressure. Raw KINECT data. Raw W ii data.

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Kiwii Project

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  1. Kiwii Project Kahori Kita Yoshiyuki Sato John Rocamora Frank Schumann Scott Yang

  2. Motivation • Which joints are more important for balancing? • Is vision or proprioception more important for balancing?

  3. Setup Center of Mass Center of Pressure

  4. Raw KINECT data Raw Wii data

  5. Calibration slope = 0.97 Position from WiiBoard Position from KINECT

  6. Spectrogram of Center of Pressure (Wii) Eyes Closed Eyes Open Mean power frequency

  7. MPF of CoM(Wii) - eyes open/eyes closed : Condition(posture) Eyes closed x Eyes open Mean power frequency [Hz] But theclassificationacrossposturesis not trivial.

  8. ClassifyEye‘s Open / Closed Liner SVM:76% Corr(head, right knee)

  9. Kalman filter & LQR state m observation of u u u mg l u

  10. Center of mass Auto-correlation 0.04 1 0.8 0.6 eyes closed 0.4 0.02 0.2 0 -0.2 0 -0.4 -0.6 -0.8 -0.02 -1 0 400 800 1200 1600 0 400 800 1200 1600 0.03 1 0.8 0.6 0.02 0.4 eyes open 0.2 0.01 0 -0.2 0 -0.4 -0.6 -0.01 -0.8 -1 0 400 800 1200 0 400 800 1200 Time Delay

  11. Conclusion • Which joints are more important for balancing? • Is vision or proprioception more important for balancing?

  12. Thank You!

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