Prototype Robotic Devices for Continuously Measuring Long-Distance Human Gait

Kunihiro Ogata, Mio Nagai, Shinichiro Yamamoto, Noritake Kawashima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Human gait function can decrease due to disability or aging. The elderly and persons with disabilities need walking training or assistance using a device, which require appropriate selection of methods for evaluating walking function. This study aimed at continuously measuring human walking motion over long distances. The proposed system moves a measurement device that can estimate human posture to enable to continuous measurements of human walking motion. Therefore, the proposed system consists of a measurement device and sensors or a robot that can measure the travel distance of the measurement device. We proposed two systems for the required applications. A manually moved device, consisting of a color depth sensor and a wheel equipped with a rotary encoder, measured patients with relatively high walking function. We also developed a robot that can automatically track subjects to measure patients with low gait function while the therapist supports the patient. Evaluation experiments on the developed systems confirm 7-9° error in joint angle estimations. Moreover, we find that the developed systems are susceptible to vibration.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1199-1204
Number of pages6
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - 2020 Jan
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: 2020 Jan 122020 Jan 15

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
Country/TerritoryUnited States
CityHonolulu
Period20/1/1220/1/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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