Prototype Robotic Devices for Continuously Measuring Long-Distance Human Gait

Kunihiro Ogata, Mio Nagai, Shinichiro Yamamoto, Noritake Kawashima

研究成果

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1199-1204
ページ数6
ISBN(電子版)9781728166674
DOI
出版ステータスPublished - 2020 1
イベント2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
継続期間: 2020 1 122020 1 15

出版物シリーズ

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

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
国/地域United States
CityHonolulu
Period20/1/1220/1/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 生体医工学
  • 制御およびシステム工学
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 器械工学

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