Abstract
This paper describes a measurement system designed to register the displacement of the legs using a two-dimensional laser range sensor with a scanning plane parallel to the ground and extract gait parameters. In the proposed methodology, the position of the legs is estimated by fitting two circles with the laser points that define their contour and the gait parameters are extracted applying a step-line model to the estimated displacement of the legs to reduce uncertainty in the determination of the stand and swing phase of the gait. Results obtained in a range up to 8 m shows that the systematic error in the location of one static leg is lower than 10 mm with and standard deviation lower than 8 mm; this deviation increases to 11 mm in the case of a moving leg. The proposed measurement system has been applied to estimate the gait parameters of six volunteers in a preliminary walking experiment.
Highlights
This work is focused in the description of the measurement system as is outlined as follows: first, Section 2 describes the main characteristics of the selected laser range sensor and a full description of the steps and algorithms involved in the gait measurement system
In this work a new gait measurement system based on a ground laser range sensor is proposed
The scan obtained with one two-dimensional laser range sensor allows the detection of the contour of the legs whose center is obtained fitting a circle with a specific least mean square (LMS) procedure
Summary
The analysis of the human movement has applications in very different aspects of life sciences helping to understand how the human body works [1,2,3] and detect comparatively when something is wrong, for example to detect the effect in the gait of illnesses related with cerebral paralysis like. In this work a ground laser range sensor is proposed as an alternative method for gait measurement. The main advantages of the use of a laser range sensor to register gait are that only one laser sensor placed with the scan plane parallel to the ground is needed to register the displacement of the legs. The main disadvantage of the basic measurement system is that only planar information of the position of the legs at a fixed height will be obtained, as suggested by [14], multiple laser range sensors at different heights could be used to obtain additional body motion parameters. This work is focused in the description of the measurement system as is outlined as follows: first, Section 2 describes the main characteristics of the selected laser range sensor and a full description of the steps and algorithms involved in the gait measurement system.
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