Development and validation of a ROS-based mobile robotic platform for human gait analysis applications

Abstract

Background:Theintegrationof mobileroboticplatformsin humangaitanalysisoffers thepotentialtodevelop multiple medical applications and achieve new discoveries. The aim of this paper is to presenta first design and validation of a ROS-based mobile robotic platform for human gait analysis.Methods:During the design stage, the model identification and the configuration of the control lawwere performed. The design of the control law required the integration of a lead compensator and aFiltered Smith Predictor (FSP). During the validation procedure, the accuracy of the system to retrievekinematic gait data and the main descriptors of gait disorders was calculated with respect to theground truth of a Vicon system. For this purpose, one hundred gait recordings were processed thanksto the collaboration of twenty participants. The participants walked in a one-way straight line gait.Results:Results showed high correlation and low error rates mainly in joint excursions from sagittaland transverse planes.Conclusion:This gait analysis system demonstrated several advantages compared with the currentapproaches. The use of a mobile robotic platform allowed gait analysis in long tracking ranges andwithout space limitations. Furthermore, the design of a suitable control law allowed a smooth trackingof the person. This led to optimal results when assessing joint excursions.Significance:This system represents a cost-effective and non-invasive alternative that could be usedfor human gait analysis applications.