Linear progression measurement and analysis of human gait for the development of a multifunctional robotic walker

摘要

The paper consist of the evaluation and analysis of single degree of freedom (DOF) human gait tracking interface by the use of inertial measurement units (IMU). The aim is in developing an indirect human gait control user interface system for a robotic walking aid. The function of the aiding device will provide the elderly, as well as persons with general walking debilitation, with enhanced daily assisted walking. This device may further be utilised in mobility rehabilitation practises. By analysing the kinematics of how a person walks certain information about gait pattern, speed and step length can be extracted. This information will be important to develop a robotic walker that will be commanded and controlled indirectly by the user. The walker may be seen as a robotic device that tracks the user's intended path that in turn gives assistance in balance and progression over difficult terrains.