The application of CMAC-based fall detection in Omni-directional mobile robot

摘要

This paper aims to develop a cerebellar model articulation controller (CMAC)-based 3-axis accelerometer fall detection algorithm and apply in smart Omni-directional mobile robot. When elderly at home or the rehabilitation patients in at hospital rehabilitation., the proposed robot can follow the user with the function of Obstacle-Avoidance. The proposed robot system uses the PIC microcontroller as the control core., and the peripheral equipment include motor encoder., ultrasonic distance sensor., 3-Axis Accelerometer., and Zigbee transmission module etc. Fall Detection part uses the portable sensors for detection and the Zigbee transmission module sends the data to the robot computer., which uses the CMAC as the recognition algorithm for determining a fall. When accident happens., the robot can detect in real time for identification.