Human Gait Feature Extraction Including a Kinematic Analysis toward Robotic Power Assistance

Chacón-Murguía, Mario I.; Sandoval-Rodriguez, Rafael; Arias-Enriquez, Omar

doi:10.5772/50723

Cited by 7 publications

(6 citation statements)

References 15 publications

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“…Using video cameras, gait analysis based on highly accurate computer-based force plates was established in the 1980s and was applied in specialized motion laboratories. An optical 3D motion analysis system with a camera was used in [ 1 , 2 ] to detect walking motion; gait analysis with these methods is expected to really improve rehabilitation training, since they are highly accurate; however, they are expensive, need sophisticated instrumentation and specialized personnel and can be used in a laboratory or a clinical environment; therefore, they are difficult to apply in daily life applications. However, this standard gait analysis is possible on specialized laboratories with expensive equipment and lengthy set-up and post-processing times.…”

Section: Introductionmentioning

confidence: 99%

The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis

Alonge

Cucco

D’Ippolito

et al. 2014

Sensors

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In this paper the performance of a sensor system, which has been developed to estimate hip and knee angles and the beginning of the gait phase, have been investigated. The sensor system consists of accelerometers and gyroscopes. A new algorithm was developed in order to avoid the error accumulation due to the gyroscopes drift and vibrations due to the ground contact at the beginning of the stance phase. The proposed algorithm have been tested and compared to some existing algorithms on over-ground walking trials with a commercial device for assisted gait. The results have shown the good accuracy of the angles estimation, also in high angle rate movement.

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Section: Introductionmentioning

confidence: 99%

The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis

Alonge

Cucco

D’Ippolito

et al. 2014

Sensors

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“…The variable time is related to the gait cycle percentage. The information of these variables is acquired by an image processing method described in [14] which is a method to obtain this information without using artificial marks. The system can be formalized as follows.…”

Section: Fuzzy System Scheme For Gait Phase Detectionmentioning

confidence: 99%

A Fuzzy Scheme for Gait Cycle Phase Detection Oriented to Medical Diagnosis

Chacón-Murguía¹,

Arias-Enriquez²,

Sandoval-Rodriguez³

2013

Lecture Notes in Computer Science

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Gait cycle phase detection provides useful information to diagnose possible problems on walking. The work reported here proposes the analysis of gait kinematic signals, extracted from videos, through fuzzy logic to automatically determine the different phases in the human gait cycle. The function of the fuzzy system is to detect the gait phases, loading response, mid-stance, terminal stance, pre-swing, initial swing, mid-swing, and terminal swing, using 2D information from a sagittal plane. The system was tested with normal and non-normal gait cycles. Experimental findings proved that the fuzzy detection system is able to correctly locate the phases using only 2D information. The maximum phase timing shift error generated was 2%. Thus, it may be concluded that the proposed system can be used to analyses gait kinematic and detect gait phases in normal cycle and absences of them in non-normal cycles. This information can be considered for gait anomaly detection and therapeutic purposes.

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“…Unlike ordinary mobile robots, humanoids have the unique ability to cross obstacles by stepping over or upon them [2]. A robot system aiming to simulate the human gait must receive gait information that allows the system to mimic this action [3]. Therefore, gait analysis has not only proved to be relevant to research fields like biomechanics, sport analysis and rehabilitation engineering, but also to the field of robotics, especially humanoid robotics [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

New Kinematic Parameters for Quantifying Irregularities in the Human and Humanoid Robot Gait

Stančić

Šupuk

Bonković

2012

International Journal of Advanced Robotic Systems

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Gait patterns of humans and humanoid robots are often described by analysing changes in angular rotation of hip, knee and ankle joints during one gait cycle. Each joint displays specific behaviour and irregularities of the gait pattern could be detected by measuring displacements from the normal rotation curve, while small deviations of individual gait characteristics are usually not easily detected. In this paper, an advanced gait analysis method is proposed, which incorporates analysis of angular data and its derivations of hip, knee, and ankle joints, presented in the phase plane. The gait kinematics was measured using a system based on active markers and fast digital cameras. The experiment included measurements on thirty healthy, barefoot humans while walking on a treadmill. We also simulated types of irregular gait, by measurements on subjects wearing knee constraints. The new kinematic parameters which are introduced clearly indicated the discrepancy between normal, healthy gait trials and irregular gait trials. The proposed gait factor parameter is a valuable measure for the detection of irregularities in gait patterns of humans and humanoid robots

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Human Gait Feature Extraction Including a Kinematic Analysis toward Robotic Power Assistance

Cited by 7 publications

References 15 publications

The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis

The Use of Accelerometers and Gyroscopes to Estimate Hip and Knee Angles on Gait Analysis

A Fuzzy Scheme for Gait Cycle Phase Detection Oriented to Medical Diagnosis

New Kinematic Parameters for Quantifying Irregularities in the Human and Humanoid Robot Gait

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