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Online System for Gait Parameters Estimation Using a LRF Sensor for Assistive Devices

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Aguirre, Andrés
Sierra M., Sergio D.
Múnera, Marcela
Cifuentes, Carlos A.
Abstract (Spanish)
Implementaciones recientes de sistemas sensoriales. han abordado la caracterización de la marcha en varios servicios de asistencia, Escenarios de rehabilitación e interacción hombre-robot. Sensores como telémetros láser, plataformas de fuerza y ​​movimiento. Los sistemas de seguimiento se han utilizado ampliamente para lograr las piernas. seguimiento de la posición, así como para estimar la marcha espacio-temporal parámetros. Sin embargo, la validación de esas mediciones con un sistema de patrón oro todavía falta. En este sentido, Este trabajo tiene como objetivo proponer un sistema en línea para la estimación de los parámetros de la marcha para la marcha asistida por andador con Dispositivos inteligentes o robóticos. Además, un estudio de validación con un Se realizó un sistema optoelectrónico. Un grupo de 30 sanos Se reclutaron voluntarios. Los ensayos se realizaron en un cinta rodante, donde se pidió a los sujetos que caminaran a 4 velocidades diferentes. El sistema propuesto está equipado con un láser. Telémetro para calcular la posición de las piernas de los usuarios. Además, dos filtros adaptativos, así como un modelo matemático lineal. se utilizaron para ajustar las estimaciones de los parámetros de la marcha de los usuarios. Los resultados muestran que nuestro sistema propuesto es capaz de estimar la cadencia de zancada y la longitud del paso con un error inferior al 5% en comparación con el sistema estándar de oro.
Abstract (English)
Recent implementations of sensory systems have addressed gait characterization in several assistive, rehabilitation and human-robot interaction scenarios. Sensors such as laser rangefinders, force platforms and motion tracking systems have been widely used to achieve legs’ position tracking, as well as to estimate gait spatio-temporal parameters. However, the validation of those measurements with a gold standard system is still lacking. In this sense, this work is aimed at proposing an online system for the estimation of gait parameters for walker-assisted gait with smart or robotic devices. Moreover, a validation study with an optoelectronic system was carried out. A group of 30 healthy volunteers was recruited. The trials were performed on a treadmill, where the subjects were asked to walk at 4 different speeds. The proposed system is equipped with a laser rangefinder to calculate the users’ legs position. Additionally, two adaptive filters, as well as a linear mathematical model were used to adjust the estimations of the users’ gait parameters. Results show that our proposed system is able to estimate the stride cadence and the step length with an error lower than 5% compared with the gold standard system.
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9 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/3296
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