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Existing pre-impact fall detection systems have high accuracy, however they are either intrusive to the subject or require heavy computational resources for fall detection, resulting in prohibitive deployment costs. These factors limit the global adoption of existing fall detection systems. In this work we present a Pre-impact fall detection system that is both non-intrusive and computationally efficient at deployment. Our system utilizes video data of the locality available through cameras, thereby requiring no specialized equipment to be worn by the subject. Further, the fall detection system utilizes minimal fall specific features and simplistic neural network models, designed to reduce the computational cost of the system. A minimal set of fall specific features are derived from the skeletal data, post observing the relative position of human skeleton during fall. These features are shown to have different distributions for Fall and non-fall scenarios proving their discriminative capability. A Long Short Term Memory (LSTM) based network is selected and the network architecture and training parameters are designed after evaluation of performance on standard datasets. In the Pre-

Falls are one of the leading causes of injury and hospitalization among elderly individuals, making reliable fall awareness an essential capability for safety monitoring in residential environments. However, existing fall detection systems often rely on wearable devices or fixed sensing installations, which may suffer from low user compliance, limited spatial coverage, or degraded performance under occlusion and poor lighting conditions. In this work, we propose \textbf{EM-Fall}, an embodied fall detection framework deployed on a mobile humanoid robot. The system integrates millimeter-wave (mmWave) sensing with robotic mobility, allowing the robot to actively adjust its sensing viewpoint and maintain target observability across rooms and under occlusion. To address interference in complex residential environments, including pet motion and multipath artifacts, we design a human-centered perception pipeline combined with lightweight temporal modeling to capture motion evolution before, during, and after fall events. We evaluate the proposed system across eight real indoor environments with four participants and construct an in-home mmWave fall detection dataset. Experimental results

Falling, especially in the elderly, is a critical issue to care for and surveil. There have been many studies focusing on fall detection. However, from our survey, there is still no research indicating the prior-fall activities, which we believe that they have a strong correlation with the intensity of the fall. The purpose of this research is to develop a fall alert system that also identifies prior-fall activities. First, we want to find a suitable location to attach a sensor to the body. We created multiple-spot on-body devices to collect various activity data. We used that dataset to train 5 different classification models. We selected the XGBoost classification model for detecting a prior-fall activity and the chest location for use in fall detection from a comparison of the detection accuracy. We then tested 3 existing fall detection threshold algorithms to detect fall and fall to their knees first, and selected the 3-phase threshold algorithm of Chaitep and Chawachat [3] in our system. From the experiment, we found that the fall detection accuracy is 88.91%, the fall to their knees first detection accuracy is 91.25%, and the average accuracy of detection of prior-fall activi

Fall risk prediction among hospitalized patients is a critical aspect of patient safety in clinical settings, and accurate models can help prevent adverse events. The Hester Davis Score (HDS) is commonly used to assess fall risk, with current clinical practice relying on a threshold-based approach. In this method, a patient is classified as high-risk when their HDS exceeds a predefined threshold. However, this approach may fail to capture dynamic patterns in fall risk over time. In this study, we model the threshold-based approach and propose two machine learning approaches for enhanced fall prediction: One-step ahead fall prediction and sequence-to-point fall prediction. The one-step ahead model uses the HDS at the current timestamp to predict the risk at the next timestamp, while the sequence-to-point model leverages all preceding HDS values to predict fall risk using deep learning. We compare these approaches to assess their accuracy in fall risk prediction, demonstrating that deep learning can outperform the traditional threshold-based method by capturing temporal patterns and improving prediction reliability. These findings highlight the potential for data-driven approaches to

Falls present a significant global public health challenge, especially in today's aging society, underscoring the importance of developing an effective fall detection system. Non-invasive radio-frequency (RF) based fall detection has garnered substantial attention due to its wide coverage and privacy-preserving nature. Existing RF-based fall detection systems approach falls as an activity classification problem, assuming that human falls introduce reproducible patterns to the RF signals. However, we argue that falls are inherently accidental, making their impact uncontrollable and unforeseeable. We propose a fundamentally different approach to fall detection by shifting the focus from directly identifying hard-to-quantify falls to recognizing normal, repeatable human activities, thus treating falls as abnormal activities outside the normal activity distribution. We introduce a self-supervised incremental learning system incorporating FallNet, a deep neural network that employs unsupervised learning techniques. Our real-time fall detection system prototype leverages WiFi Channel State Information (CSI) sensing data and has been extensively tested with 16 human subjects.

Training fall detection systems is challenging due to the scarcity of real-world fall data, particularly from elderly individuals. To address this, we explore the potential of Large Language Models (LLMs) for generating synthetic fall data. This study evaluates text-to-motion (T2M, SATO, ParCo) and text-to-text models (GPT4o, GPT4, Gemini) in simulating realistic fall scenarios. We generate synthetic datasets and integrate them with four real-world baseline datasets to assess their impact on fall detection performance using a Long Short-Term Memory (LSTM) model. Additionally, we compare LLM-generated synthetic data with a diffusion-based method to evaluate their alignment with real accelerometer distributions. Results indicate that dataset characteristics significantly influence the effectiveness of synthetic data, with LLM-generated data performing best in low-frequency settings (e.g., 20Hz) while showing instability in high-frequency datasets (e.g., 200Hz). While text-to-motion models produce more realistic biomechanical data than text-to-text models, their impact on fall detection varies. Diffusion-based synthetic data demonstrates the closest alignment to real data but does not

In this paper, we formulate a rational analog of the fall Delta theorem and the Delta square conjecture. We find a new dinv statistic on fall-decorated paths on a $(m+k) \times (n+k)$ rectangle that simultaneously extends the previously known dinv statistics on decorated square objects and non-decorated rectangular objects. We prove a symmetric function formula for the $q,t$-generating function of fall-decorated rectangular Dyck paths as a skewing operator applied to $e_{m,n+km}$ and, conditionally on the rectangular paths conjecture, an analog formula for fall-decorated rectangular paths.

Falls have become more frequent in recent years, which has been harmful for senior citizens.Therefore detecting falls have become important and several data sets and machine learning model have been introduced related to fall detection. In this project report, a human fall detection method is proposed using a multi modality approach. We used the UP-FALL detection data set which is collected by dozens of volunteers using different sensors and two cameras. We use wrist sensor with acclerometer data keeping labels to binary classification, namely fall and no fall from the data set.We used fusion of camera and sensor data to increase performance. The experimental results shows that using only wrist data as compared to multi sensor for binary classification did not impact the model prediction performance for fall detection.

Falling can have fatal consequences for elderly people especially if the fallen person is unable to call for help due to loss of consciousness or any injury. Automatic fall detection systems can assist through prompt fall alarms and by minimizing the fear of falling when living independently at home. Existing vision-based fall detection systems lack generalization to unseen environments due to challenges such as variations in physical appearances, different camera viewpoints, occlusions, and background clutter. In this paper, we explore ways to overcome the above challenges and present Single Shot Human Fall Detector (SSHFD), a deep learning based framework for automatic fall detection from a single image. This is achieved through two key innovations. First, we present a human pose based fall representation which is invariant to appearance characteristics. Second, we present neural network models for 3d pose estimation and fall recognition which are resilient to missing joints due to occluded body parts. Experiments on public fall datasets show that our framework successfully transfers knowledge of 3d pose estimation and fall recognition learnt purely from synthetic data to unseen

Fall detection and classification become an imper- ative problem for healthcare applications particularity with the increasingly ageing population. Currently, most of the fall clas- sification algorithms provide binary fall or no-fall classification. For better healthcare, it is thus not enough to do binary fall classification but to extend it to multiple fall events classification. In this work, we utilize the privacy mitigating human skeleton data for multiple fall events classification. The skeleton features are extracted from the original RGB images to not only mitigate the personal privacy, but also to reduce the impact of the dynamic illuminations. The proposed fall events classification method is divided into two stages. In the first stage, the model is trained to achieve the binary classification to filter out the no-fall events. Then, in the second stage, the deep neural network (DNN) model is trained to further classify the five types of fall events. In order to confirm the efficiency of the proposed method, the experiments on the UP-Fall dataset outperform the state-of-the-art.

Fall is one of the major health threats and obstacles to independent living for elders, timely and reliable fall detection is crucial for mitigating the effects of falls. In this paper, leveraging the fine-grained Channel State Information (CSI) and multi-antenna setting in commodity WiFi devices, we design and implement a real-time, non-intrusive, and low-cost indoor fall detector, called Anti-Fall. For the first time, the CSI phase difference over two antennas is identified as the salient feature to reliably segment the fall and fall-like activities, both phase and amplitude information of CSI is then exploited to accurately separate the fall from other fall-like activities. Experimental results in two indoor scenarios demonstrate that Anti-Fall consistently outperforms the state-of-the-art approach WiFall, with 10% higher detection rate and 10% less false alarm rate on average.

By 2050, people aged 65 and over are projected to make up 16 percent of the global population. As aging is closely associated with increased fall risk, particularly in wet and confined environments such as bathrooms where over 80 percent of falls occur. Although recent research has increasingly focused on non-intrusive, privacy-preserving approaches that do not rely on wearable devices or video-based monitoring, these efforts have not fully overcome the limitations of existing unimodal systems (e.g., WiFi-, infrared-, or mmWave-based), which are prone to reduced accuracy in complex environments. These limitations stem from fundamental constraints in unimodal sensing, including system bias and environmental interference, such as multipath fading in WiFi-based systems and drastic temperature changes in infrared-based methods. To address these challenges, we propose a Privacy-Preserving Multimodal Fall Detection System for Elderly People in Bathroom Environments. First, we develop a sensor evaluation framework to select and fuse millimeter-wave radar with 3D vibration sensing, and use it to construct and preprocess a large-scale, privacy-preserving multimodal dataset in real bathroom

A fall $k$-coloring of a graph $G$ is a proper $k$-coloring of $G$ such that each vertex of $G$ sees all $k$ colors on its closed neighborhood. We denote ${\rm Fall}(G)$ the set of all positive integers $k$ for which $G$ has a fall $k$-coloring. In this paper, we study fall colorings of lexicographic product of graphs and categorical product of graphs and answer a question of \cite{dun} about fall colorings of categorical product of complete graphs. Then, we study fall colorings of union of graphs. Then, we prove that fall $k$-colorings of a graph can be reduced into proper $k$-colorings of graphs in a specified set. Then, we characterize fall colorings of Mycielskian of graphs. Finally, we prove that for each bipartite graph $G$, ${\rm Fall}(G^{c})\subseteq \{χ(G^{c}) \}$ and it is polynomial time to decision whether or not ${\rm Fall}(G^{c})=\{χ(G^{c}) \}$.

Recent advancements in optimal control and reinforcement learning have enabled quadrupedal robots to perform various agile locomotion tasks over diverse terrains. During these agile motions, ensuring the stability and resiliency of the robot is a primary concern to prevent catastrophic falls and mitigate potential damages. Previous methods primarily focus on recovery policies after the robot falls. There is no active safe falling solution to the best of our knowledge. In this paper, we proposed Guardians as You Fall (GYF), a safe falling/tumbling and recovery framework that can actively tumble and recover to stable modes to reduce damage in highly dynamic scenarios. The key idea of GYF is to adaptively traverse different stable modes via active tumbling before the robot shifts to irrecoverable poses. Via comprehensive simulation and real-world experiments, we show that GYF significantly reduces the maximum acceleration and jerk of the robot base compared to the baselines. In particular, GYF reduces the maximum acceleration and jerk by 20%~73% in different scenarios in simulation and real-world experiments. GYF offers a new perspective on safe falling and recovery in locomotion task

Falling is a commonly occurring mishap with elderly people, which may cause serious injuries. Thus, rapid fall detection is very important in order to mitigate the severe effects of fall among the elderly people. Many fall monitoring systems based on the accelerometer have been proposed for the fall detection. However, many of them mistakenly identify the daily life activities as fall or fall as daily life activity. To this aim, an efficient machine learning-based fall detection algorithm has been proposed in this paper. The proposed algorithm detects fall with efficient sensitivity, specificity, and accuracy as compared to the state-of-the-art techniques. A publicly available dataset with a very simple and computationally efficient set of features is used to accurately detect the fall incident. The proposed algorithm reports and accuracy of 99.98% with the Support Vector Machine(SVM) classifier.

An important scientific debate took place regarding falling bodies hundreds of years ago, and it still warrants introspection. Galileo argued that in a vacuum all bodies fall at the same rate relative to the earth, independent of their mass. Aristotle seemed to consider all media to be viscous, and argued that heavier bodies fall faster. Aristotle was challenged by Philoponus, who argued that light and heavy weights fall about equally fast in air, eleven hundred years before Galileo. As we shall see, the problem is more subtle than meets the eye -- even in a frictionless medium. Philoponus and Galileo are right part of the time, and Aristotle is partly right some of the time. In fact they are all wrong the rest of the time, with the lightest body falling fastest when two bodies fall toward the earth. In principle the results of a free fall experiment depend on whether falling masses originate on earth, are extraterrestrial, are sequential or concurrent, or are simultaneous for coincident or separated bodies, etc. When single falling bodies originate from the earth, all bodies (light and heavy) fall at the same rate relative to the earth in agreement with Galileo's view. Einstein's

Fall detection, particularly critical for high-risk demographics like the elderly, is a key public health concern where timely detection can greatly minimize harm. With the advancements in radio frequency technology, radar has emerged as a powerful tool for human detection and tracking. Traditional machine learning algorithms, such as Support Vector Machines (SVM) and k-Nearest Neighbors (kNN), have shown promising outcomes. However, deep learning approaches, notably Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN), have outperformed in learning intricate features and managing large, unstructured datasets. This survey offers an in-depth analysis of radar-based fall detection, with emphasis on Micro-Doppler, Range-Doppler, and Range-Doppler-Angles techniques. We discuss the intricacies and challenges in fall detection and emphasize the necessity for a clear definition of falls and appropriate detection criteria, informed by diverse influencing factors. We present an overview of radar signal processing principles and the underlying technology of radar-based fall detection, providing an accessible insight into machine learning and deep learning algorithms. After

Falls are one of the leading cause of injury-related deaths among the elderly worldwide. Effective detection of falls can reduce the risk of complications and injuries. Fall detection can be performed using wearable devices or ambient sensors; these methods may struggle with user compliance issues or false alarms. Video cameras provide a passive alternative; however, regular RGB cameras are impacted by changing lighting conditions and privacy concerns. From a machine learning perspective, developing an effective fall detection system is challenging because of the rarity and variability of falls. Many existing fall detection datasets lack important real-world considerations, such as varied lighting, continuous activities of daily living (ADLs), and camera placement. The lack of these considerations makes it difficult to develop predictive models that can operate effectively in the real world. To address these limitations, we introduce a novel multi-modality dataset (MUVIM) that contains four visual modalities: infra-red, depth, RGB and thermal cameras. These modalities offer benefits such as obfuscated facial features and improved performance in low-light conditions. We formulated f

As the percentage of elderly people in developed countries increases worldwide, the healthcare of this collective is a worrying matter, especially if it includes the preservation of their autonomy. In this direction, many studies are being published on Ambient Assisted Living (AAL) systems, which help to reduce the preoccupations raised by the independent living of the elderly. In this study, a systematic review of the literature is presented on fall detection and Human Activity Recognition (HAR) for the elderly, as the two main tasks to solve to guarantee the safety of elderly people living alone. To address the current tendency to perform these two tasks, the review focuses on the use of Deep Learning (DL) based approaches on computer vision data. In addition, different collections of data like DL models, datasets or hardware (e.g. depth or thermal cameras) are gathered from the reviewed studies and provided for reference in future studies. Strengths and weaknesses of existing approaches are also discussed and, based on them, our recommendations for future works are provided.