@. Zong, C. Clady, X. Salini, J. Chetouani, and M. , An embedded 3D human motion capture using the prediction provided from a walking model, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012.
DOI : 10.1109/BioRob.2012.6290704

@. Zong, C. Clady, X. Chetouani, and M. , An embedded human motion capture system for an assistive walking robot, 2011 IEEE International Conference on Rehabilitation Robotics, 2011.
DOI : 10.1109/ICORR.2011.5975439

@. Zong, C. Chetouani, M. Tapus, and A. , Automatic gait characterization for a mobility assistance system, 2010 11th International Conference on Control Automation Robotics & Vision, 2010.
DOI : 10.1109/ICARCV.2010.5707864

@. Zong, C. Chetouani, and M. , Hilbert-Huang transform based physiological signals analysis for emotion recognition, 2009 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT), 2009.
DOI : 10.1109/ISSPIT.2009.5407547

@. Zong, C. Clady, X. Chetouani, M. Bidaud, and P. , Embedded human motion system for anomaly detection during walking (en cours de préparation

S. Schéma-du, Méthode globale), p.76

S. La-matrice-de-confusion-calculée-au-point-de, 119 [A01] BELLI A. A treadmill ergometer for three-dimensional ground reaction forces measurement during walking, J Biomech, vol.34, pp.105-112, 2001.

[. Anderson, H. Herman, and A. Kelly, Experimental characterization of commercial flash ladar devices, Proceeedings of International Conference on Sensing Technologies, p.45, 2005.

A. G. Adami, S. S. Kajarekar, and H. Hermansky, A new speaker change detection method for two-speaker segmentation, IIEEE International Conference on Acoustics Speech and Signal Processing, pp.3908-3911, 2002.
DOI : 10.1109/ICASSP.2002.1004772

X. [. Achard, A. Qu, M. Mokhber, and . Milgram, A novel approach for recognition of human actions with semi-global features. Machine Vision and Applications, pp.27-34, 2008.

A. Frizera, R. Ceres, J. Pons, A. Abellanas, and R. Raya, The smart walkers as geriatric assistive device. The simbiosis purpose, the 6th International Conference of the International Society for Gerontechnology, p.4, 2008.
DOI : 10.4017/gt.2008.07.02.045.00

B. Franck, Modélisation biomécanique du corps humain et analyse de la marche normale et pathologique : applicationáapplicationá la rééducation, p.12, 1994.

[. Bidaud, S. Barthélémy, and A. Micaelli, Contrôle de l'´ equilibre des humains virtuels

C. [. Berchtold and . Cotman, Evolution in the Conceptualization of Dementia and Alzheimer???s Disease: Greco-Roman Period to the 1960s, Neurobiology of Aging, vol.19, issue.3, pp.173-189, 1998.
DOI : 10.1016/S0197-4580(98)00052-9

A. Marcus, . Brubaker, J. David, A. Fleet, and . Hertzmann, Physics-based person tracking using the anthropomorphic walker, International Journal of Computer Vision, p.79, 2010.

N. Bellotto and H. Hu, A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots, International Journal of Social Robotics, vol.35, issue.4, pp.121-136
DOI : 10.1007/s12369-010-0047-x

O. Beauchet, F. R. Herrmann, R. Grandjean, V. Dubost, and G. Allali, Concurrent validity of smtec footswitches system for the measurement of temporal gait parameters. Gait and Posture, pp.156-159, 2008.

G. [. Bourke and . Lyons, A threshold-based fall-detection algorithm using a bi-axial gyroscope sensor, Medical Engineering & Physics, vol.30, issue.1, pp.84-90, 2008.
DOI : 10.1016/j.medengphy.2006.12.001

H. Bateni and B. E. Maki, Assistive devices for balance and mobility: Benefits, demands, and adverse consequences, Archives of Physical Medicine and Rehabilitation, vol.86, issue.1, pp.134-145, 2005.
DOI : 10.1016/j.apmr.2004.04.023

P. [. Benda, D. E. Riley, and . Krebs, Biomechanical relationship between center of gravity and center of pressure during standing, IEEE Transactions on Rehabilitation Engineering, vol.2, issue.1, pp.3-10, 1994.
DOI : 10.1109/86.296348

[. Bo and C. Sminchisescu, Structured output-associative regression. Computer Vision and Pattern Recognition, IEEE Computer Society Conference on, p.88, 2009.

L. Bo and C. Sminchisescu, Twin Gaussian Processes for Structured Prediction, International Journal of Computer Vision, vol.48, issue.3, p.88, 2010.
DOI : 10.1007/s11263-008-0204-y

C. [. Barthélemy, P. Salaun, and . Bidaud, Dynamic simulation and control of sit-to-stand motion, CLAWAR, p.14, 2006.

[. Bo and C. Sminchisescu, Atul Kanaujia, and Dimitris Metaxas. Fast algorithms for large scale conditional 3d prediction. Computer Vision and Pattern Recognition, IEEE Computer Society Conference on, p.88, 2008.

[. Chandola, A. Banerjee, and V. Kumar, Anomaly detection, ACM Computing Surveys, vol.41, issue.3, pp.1-15, 2009.
DOI : 10.1145/1541880.1541882

C. Fany, Baropodomètré ecologique : développement d'un chaussopnàchaussopnà semelle instrumentée pour l'analyse de la marche, p.20, 2008.

]. A. Ckvdh03, H. F. Forner-cordero, F. C. Koopman, . Van, and . Helm, Multiplestep strategies to recover from stumbling perturbations. Gait &amp, pp.47-59, 2003.

P. Correa, F. Marqués, X. Marichal, and B. Macq, 3D posture estimation using geodesic distance maps, Multimedia Tools and Applications, vol.19, issue.7, p.65, 2008.
DOI : 10.1007/s11042-007-0191-y

[. Corbeil, ´ Etudes des mécanismes adaptatifs du maintien de l'´ equilibre orthostatique. Effets d'une fatigue musculaire, d'une douleur expérimentale et d'une perturbation externe, p.25, 2003.

. Tomas-de-boer, Foot placement in robotic bipedal locomotion, pp.2012-2044

[. Dijkstra, A note on two problems in connection with graphs, Numerical Mathematics, p.65, 1959.

M. Duée and C. Rebillard, La dépendance des personnesâgespersonnes?personnesâges : une projection en 2040. Données sociales-La société francaise, 2006.

B. Dimitrios, J. Dimitriadis, and . Schroeter, Living rooms getting smarter with multimodal and multichannel signal processing, SLTC newsletter, vol.132, p.49, 2011.

[. Evgeniou, M. Pontil, and T. Poggio, Regularization networks and support vector machines, Advances in Computational Mathematics, pp.1-50, 2000.

F. Arnaud, Conception et validation d'un nouvel outil d'analyse de la marche, p.20, 2003.

T. Fawcett, An introduction to ROC analysis, Pattern Recognition Letters, vol.27, issue.8, pp.861-874, 2006.
DOI : 10.1016/j.patrec.2005.10.010

]. J. Fkl-+-03, M. Fritsch, S. Kleinehagenbrock, T. Lang, G. A. Plotz et al., Multi-modal anchoring for human-robot interaction, Robotics and Autonomous Systems, vol.43, issue.2-3, pp.133-147, 2003.

G. Christophe, Analyse biomécanique de la marche et proposition de classes de marcheurs : application au portage de sacsàsacsà dos, p.12, 2004.

. Bibliographie, G. David, M. Fran´coisfran´cois, J. , and L. , Phsiologie , méthodes d'explorations et troubles de la marche

]. A. Gos99 and . Goswami, Foot rotation indicator (fri) point : a new gait planning tool to evaluate postural stability of biped robots, IEEE International Conference on Robotics and Automation, pp.47-52, 1999.

C. Granata, ContributionàContributionà la conception d'interfaces et de comportements interactifs pour des robots personnels, p.6, 2012.
URL : https://hal.archives-ouvertes.fr/tel-00684772

M. [. Gish and . Schmidt, Text-independent speaker identification, IEEE Signal Processing Magazine, vol.11, issue.4, pp.18-32, 1994.
DOI : 10.1109/79.317924

M. [. Gish, R. Siu, and . Rohlicek, Segregation of speakers for speech recognition and speaker identification, [Proceedings] ICASSP 91: 1991 International Conference on Acoustics, Speech, and Signal Processing, pp.873-876, 1991.
DOI : 10.1109/ICASSP.1991.150477

J. M. Hausdorff, Z. Ladin, and J. Y. Wei, Footswitch system for measurement of the temporal parameters of gait, Journal of Biomechanics, vol.28, issue.3, pp.347-351, 1995.
DOI : 10.1016/0021-9290(94)00074-E

K. P. Berthold and . Horn, Closed-form solution of absolute orientation using unit quaternions, Journal of the Optical Society of America A, vol.4, issue.4, pp.629-642, 1987.

J. M. Hausdorff, D. A. Rios, and H. K. Edelberg, Gait variability and fall risk in community-living older adults: A 1-year prospective study, Archives of Physical Medicine and Rehabilitation, vol.82, issue.8
DOI : 10.1053/apmr.2001.24893

T. Elizabeth and . Hsiao-wecksler, Biomechanical and age-related differences in balance recovery using the tether-release method, Journal of Electromyography and Kinesiology, vol.18, issue.2, pp.179-187, 2008.

J. Perry, Gait Analysis, Journal of Pediatric Orthopaedics, vol.12, issue.6, p.17, 1992.
DOI : 10.1097/01241398-199211000-00023

J. Jankovic, Parkinson's disease: clinical features and diagnosis, Journal of Neurology, Neurosurgery & Psychiatry, vol.79, issue.4, pp.368-376, 2008.
DOI : 10.1136/jnnp.2007.131045

[. Kalman, A New Approach to Linear Filtering and Prediction Problems, Journal of Basic Engineering, vol.82, issue.1, pp.35-45, 1960.
DOI : 10.1115/1.3662552

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Biped walking pattern generation by using preview control of zero-moment point, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), p.29, 2003.
DOI : 10.1109/ROBOT.2003.1241826

M. Kangas, A. Konttila, P. Lindgren, P. Winblad, and T. Jamsa, Comparison of low-complexity fall detection algorithms for body attached accelerometers, Gait and Posture, pp.285-291, 2008.
DOI : 10.1016/j.gaitpost.2008.01.003

]. S. Kl51a, R. A. Kullback, and . Leibler, On information and sufficiency, Annals of Mathematical Statistics, pp.79-86, 1951.

]. S. Kl51b, R. A. Kullback, and . Leibler, On information and sufficiency, Annals of Mathematical Statistics, pp.79-86, 1951.

. M. Knm-+-06-]-d, M. R. Karantonis, M. Narayanan, N. H. Mathie, B. G. Lovell et al., Implementation of a real-time human movement classifier using a triaxial accelerometer for ambulatory monitoring Information Technology Bibliographie 145

[. Lakany, Extracting a diagnostic gait signature, Pattern Recognition, vol.41, issue.5, pp.1627-1637, 2008.
DOI : 10.1016/j.patcog.2007.11.004

[. Leteneur, Effets de l'inclinaison naturelle du tronc sur le controle de l'equilibre orthostatique, l'initiation de la marche et la marche, p.12, 2009.

]. B. Lin95 and . Lindsay, Mixture models : theory, geometry, and applications, Inst of Mathematical Statistic, p.74, 1995.

G. Loosli, S. Lee, and S. Canu, Context changes detection by one-class svms, UM 2005 Workshop on Machine Learning for User Modeling : Challenges, pp.103-133, 2005.

G. Lacey and S. Macnamara, User involvement in the design and evaluation of a smart mobility aid, Journal of Rehabilitation Research and Development, vol.37, issue.6 4, pp.709-723, 2000.

G. Lacey, S. Namara, and K. Dawson-howe, Personal adaptive mobility aid for the infirm and elderly blind, pp.211-220, 1998.
DOI : 10.1007/BFb0055980

]. K. Lpd-+-01, E. Lay, R. Prassler, G. Dillmann, M. Grunwald et al., Morpha : Communication and interaction with intelligent, anthropomorphic robot assistants. International Status Conference Lead Projects " Human-Computer-Interaction, 2001.

]. P. Mah36 and . Mahalanobis, On the generalised distance in statistics, Proceedings National Institute of Science, pp.49-55, 1936.

[. Macellari, C. Giacomozzi, and R. Saggini, Spatial-temporal parameters of gait: reference data and a statistical method for normality assessment, Gait & Posture, vol.10, issue.2, pp.171-181, 1999.
DOI : 10.1016/S0966-6362(99)00021-1

M. Morris, R. Iansek, T. Matyas, and J. Summers, Abnormalities in the stride length-cadence relation in parkinsonian gait, Movement Disorders, vol.110, issue.1, pp.61-69, 1998.
DOI : 10.1002/mds.870130115

Y. [. Mbourou, N. Lajoie, and . Teasdale, Step Length Variability at Gait Initiation in Elderly Fallers and Non-Fallers, and Young Adults, Gerontology, vol.49, issue.1, pp.21-26, 1996.
DOI : 10.1159/000066506

]. J. Mmbgc-+-10, F. Munoz-mari, L. Bovolo, L. Gomez-chova, G. Bruzzone et al., Semisupervised one-class support vector machines for classification of remote sensing data. Geoscience and Remote Sensing, IEEE Transactions on, vol.48, issue.133, pp.3188-3197

M. M. Martins, C. P. Santos, A. Frizera-neto, and R. Ceres, Assistive mobility devices focusing on Smart Walkers: Classification and review, Robotics and Autonomous Systems, vol.60, issue.4, pp.548-562
DOI : 10.1016/j.robot.2011.11.015

URL : http://repositorium.sdum.uminho.pt/bitstream/1822/14841/1/R8-Assistive%20Mobility%20Devices%20focusing%20on%20Smart%20Walkers_Classification%20and%20Review2.pdf

[. Pogorelc, Z. Bosni´cbosni´c, and M. Gams, Automatic recognition of gait-related health problems in the elderly using machine learning, Multimedia Tools and Applications, vol.2008, issue.4, pp.333-354, 2012.
DOI : 10.1007/s11042-011-0786-1

[. Pogorelc and M. Gams, Discovery of Gait Anomalies from Motion Sensor Data, 2010 22nd IEEE International Conference on Tools with Artificial Intelligence, pp.79-94, 2010.
DOI : 10.1109/ICTAI.2010.119

J. Pineau, M. Montemerlo, M. Pollack, N. Roy, and S. Thrun, Towards robotic assistants in nursing homes: Challenges and results, Robotics and Autonomous Systems, vol.42, issue.3-4, pp.271-281, 2002.
DOI : 10.1016/S0921-8890(02)00381-0

M. J. Pavol, T. M. Owings, K. T. Foley, and M. D. Grabiner, Mechanisms Leading to a Fall From an Induced Trip in Healthy Older Adults, The Journals of Gerontology Series A: Biological Sciences and Medical Sciences, vol.56, issue.7, pp.428-437, 2001.
DOI : 10.1093/gerona/56.7.M428

P. Bessou, P. Dupui, R. Montoya, and B. Pages, Simultaneous recording of longitudinal displacements of both feet during human walking, Journal Physiol, vol.131, pp.189-198, 1988.

F. Qian, T. Guo, L. Ingalls, and . Olson, Jody James, and Thanassis Rikakis. A gesture-driven multimodal interactive dance system, Proceedings of IEEE International Conference on Multimedia and Expo, pp.27-30, 2004.

A. Rabaoui, H. Kadri, Z. Lachiri, and N. Ellouze, One-Class SVMs Challenges in Audio Detection and Classification Applications, EURASIP Journal on Advances in Signal Processing, vol.6, issue.4, pp.103-133, 2008.
DOI : 10.1109/TASSP.1976.1162846

URL : https://hal.archives-ouvertes.fr/hal-00510432

[. Rusinkiewicz and M. Levoy, Efficient variants of the ICP algorithm, Proceedings Third International Conference on 3-D Digital Imaging and Modeling, pp.145-152, 2001.
DOI : 10.1109/IM.2001.924423

[. Salini, S. Barthélemy, and P. Bidaud, LQP-Based Controller Design for Humanoid Whole-Body Motion, Advances in Robot Kinematics : Motion in Man and Machine, pp.177-184
DOI : 10.1007/978-90-481-9262-5_19

[. Schulz, D. Fox, and J. Hightower, People tracking with anonymous and id-sensors using rao-blackwellised particle filters, Proceedings of the 18th international joint conference on Artificial intelligence, IJCAI'03, pp.921-926, 2003.

S. Francoise, D. Christine, C. Renée, and P. Frédérique, Analyse métrologique de la posture, de la locomotion et/ou des gestuelles chez un patient polydéficient ou monodéficient, HAS, pp.2006-2009

S. Francoise, D. Christine, C. Renée, and P. Frédérique, Analyse de la posture statique et/ou dynamique sur plate-forme de force (posturographie), HAS (Haute Autorité de santé), p.3, 2007.

. Spst-+-01-]-b, J. Schölkopf, J. Platt, A. J. Shawe-taylor, R. C. Smola et al., Estimating the support of a High-Dimensional distribution, pp.99-87, 2001.

G. Sukthankar and K. Sycara, A cost minimization approach to human behavior recognition, Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems , AAMAS '05, pp.1067-1074, 2005.
DOI : 10.1145/1082473.1082635

B. [. Schillings, J. Van-wezel, and . Duysens, Mechanically induced stumbling during human treadmill walking, Journal of Neuroscience Methods, vol.67, issue.1, pp.11-17, 1996.
DOI : 10.1016/0165-0270(95)00149-2

URL : http://repository.ubn.ru.nl/bitstream/2066/22467/1/22467___.PDF

R. Schölkopf, A. Williamson, J. Smola, J. Shawe-taylor, and . Platt, Support vector method for novelty detection, Advances in Neural Information Processing Systems, p.107, 2000.

M. J. David, R. P. Tax, and . Duin, Support vector domain description, Pattern Recognition Letters, vol.20, pp.1191-1199, 1999.

[. Thang, T. Kim, Y. Lee, and S. Lee, Estimation of 3-D human body posture via co-registration of 3-D human model and sequential stereo information, Applied Intelligence, vol.40, issue.11, p.63, 2010.
DOI : 10.1007/s10489-009-0209-4

[. Vukobratovic, B. Borovac, and D. Surla, Biped Locomotion : Dynamics, Stability, Control and Application, p.28, 1990.
DOI : 10.1007/978-3-642-83006-8

L. Christopher, . Vaughan, L. Brian, J. Davis, and . Connor, Dynamics of Human Gait, p.18, 1999.

[. Vishwakarma, C. Mandal, and S. Sural, Automatic Detection of Human Fall in Video, Pattern Recognition and Machine Intelligence, vol.4815, issue.41, pp.616-623, 2007.
DOI : 10.1007/978-3-540-77046-6_76

V. N. Vapnik, Statistical Learning Theory, p.107, 1998.

W. Eric, Proposition d'une méthodologie d'analyse du mouvement : applicationàapplicationà la marche du sujet hémiplégique, p.12, 1999.

M. W. Whittle, Gait analysis, p.16, 1996.
DOI : 10.1016/B978-0-7506-0170-2.50017-0

P. Wieber, Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations, 2006 6th IEEE-RAS International Conference on Humanoid Robots, p.29, 2006.
DOI : 10.1109/ICHR.2006.321375

URL : https://hal.archives-ouvertes.fr/inria-00390462

]. D. Win95 and . Winter, Human balance and posture control during standing and walking. Gait and Posture, pp.193-214, 1995.

A. David and . Winter, Biomechanics and motor control of human movement

H. [. Willsky and . Jones, A generalized likelihood ratio approach to the detection and estimation of jumps in linear systems, IEEE Transactions on Automatic Control, vol.21, issue.1, pp.108-112, 1976.
DOI : 10.1109/TAC.1976.1101146

[. Wagner, J. Kim, and E. André, From Physiological Signals to Emotions: Implementing and Comparing Selected Methods for Feature Extraction and Classification, 2005 IEEE International Conference on Multimedia and Expo, pp.940-943, 2005.
DOI : 10.1109/ICME.2005.1521579

. Miller, B. Neil, and . Alexander, Age and gender differences in peak lower extremity joint torques and ranges of motion used during single-step balance recovery from a forward fall, Journal of Biomechanics, vol.34, issue.1, pp.67-73, 2001.

[. Yu, M. Spenko, and S. Dubowsky, An adaptive shared control system for an intelligent mobility aid for the elderly, Autonomous Robots, vol.15, issue.1, pp.53-56, 2003.
DOI : 10.1023/A:1024488717009

[. Zouba, B. Boulay, F. Bremond, and M. Thonnat, Monitoring activities of daily living (adls) of elderly based on 3d key human postures. Cognitive Vision, pp.37-50, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00453043

M. [. Zong and . Chetouani, Hilbert-Huang transform based physiological signals analysis for emotion recognition, 2009 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)
DOI : 10.1109/ISSPIT.2009.5407547

M. [. Zong, A. Chetouani, and . Tapus, Automatic gait characterization for a mobility assistance system, 2010 11th International Conference on Control Automation Robotics & Vision, pp.2010-2033, 2010.
DOI : 10.1109/ICARCV.2010.5707864

H. Zhou and H. Hu, Human motion tracking for rehabilitation???A survey, Biomedical Signal Processing and Control, vol.3, issue.1, p.38, 2008.
DOI : 10.1016/j.bspc.2007.09.001

T. Zhang, J. Wang, L. Xu, and P. Liu, Fall Detection by Wearable Sensor and One-Class SVM Algorithm, Intelligent Computing in Signal Processing and Pattern Recognition, vol.345, issue.109, pp.858-863, 2006.
DOI : 10.1007/978-3-540-37258-5_104