Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly

Yorozu, Ayanori; Takahashi, Masaki

doi:10.1109/iros.2015.7354064

Cited by 12 publications

(8 citation statements)

References 11 publications

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“…The shin height was defined as approximately half the mean sitting knee height of 53.5 cm reported in [ 55 ] and is well-above the mean foot clearance height of 2 cm (SD 1 cm) reported in [ 56 ]. The height of the sensor placement is also in accordance with similar studies, where the LiDAR sensors were placed between 20 cm to 40 cm height [ 45 , 46 , 47 , 48 ]. The upper-body height was chosen so as to be above most of the furniture in the NeuroTec Loft, hence providing a direct line of sight throughout the room.…”

Section: Materials and Methodssupporting

confidence: 65%

“…Step For the first three walks, the participants were able to choose their own preferred walking speed and step length. For the first walk, there were no restrictions on the participants' walking behavior, speed or step length, and thus it was a completely free walk in line with other gait assessment studies [45][46][47][48]. During the second walk, the participants had to perform mental calculations while walking.…”

Section: Velocitymentioning

confidence: 89%

“…Galai et al used a rotating multibeam (RMB) lidar to track and identify multiple people in a natural environment as well as to identify activities [ 43 , 44 ]. LiDAR sensors were used to track gait parameters in multiple studies [ 45 , 46 , 47 , 48 ]. Gait velocity, step and stride length, cadence and step width were the most commonly measured gait parameters.…”

Section: Introductionmentioning

confidence: 99%

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Contactless Gait Assessment in Home-like Environments

Botros

Gyger

Schütz

et al. 2021

Sensors

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Gait analysis is an important part of assessments for a variety of health conditions, specifically neurodegenerative diseases. Currently, most methods for gait assessment are based on manual scoring of certain tasks or restrictive technologies. We present an unobtrusive sensor system based on light detection and ranging sensor technology for use in home-like environments. In our evaluation, we compared six different gait parameters, based on recordings from 25 different people performing eight different walks each, resulting in 200 unique measurements. We compared the proposed sensor system against two state-of-the art technologies, a pressure mat and a set of inertial measurement unit sensors. In addition to test usability and long-term measurement, multi-hour recordings were conducted. Our evaluation showed very high correlation (r>0.95) with the gold standards across all assessed gait parameters except for cycle time (r=0.91). Similarly, the coefficient of determination was high (R2>0.9) for all gait parameters except cycle time. The highest correlation was achieved for stride length and velocity (r≥0.98,R2≥0.95). Furthermore, the multi-hour recordings did not show the systematic drift of measurements over time. Overall, the unobtrusive gait measurement system allows for contactless, highly accurate long- and short-term assessments of gait in home-like environments.

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Section: Materials and Methodssupporting

confidence: 65%

Section: Velocitymentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

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Contactless Gait Assessment in Home-like Environments

Botros

Gyger

Schütz

et al. 2021

Sensors

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“…Two popular versions of the Hokuyo sensors—the SLR-04 and the SLR-10 have been evaluated for comparison. While the cheaper SLR-04 has been successfully applied for gait recognition [ 28 , 29 , 30 ], the SLR-10 could be expected to achieve higher sensitivity due to its four-fold scanning rate and coverage of an increased measuring area (as summarized in Table 4 )—which becomes especially relevant in the case of scanning the gait of bypassing persons. However, it comes with a 40% increased price and thus might be considered only if achieving significantly higher results.…”

Section: Methodsmentioning

confidence: 99%

Scanning Laser Rangefinders for the Unobtrusive Monitoring of Gait Parameters in Unsupervised Settings

Fudickar

Stolle

Volkening

et al. 2018

Sensors

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Since variations in common gait parameters (such as cadence, velocity and stride-length) of elderly people are a reliable indicator of functional and cognitive decline in aging and increased fall risks, such gait parameters have to be monitored continuously to enable preventive interventions as early as possible. With scanning laser rangefinders (SLR) having been shown to be suitable for standardised (frontal) gait assessments, this article introduces an unobtrusive gait monitoring (UGMO) system for lateral gait monitoring in homes for the elderly. The system has been evaluated in comparison to a GAITRite (as reference system) with 86 participants (ranging from 21 to 82 years) passing the 6-min walk test twice. Within the considered 56,351 steps within an overall 7877 walks and approximately 34 km distance travelled, it has been shown that the SLR Hokuyo UST10-LX is more sensitive than the cheaper URG-04LX version in regard to the correct (automatic) detection of lateral steps (98% compared to 77%) and walks (97% compared to 66%). Furthermore, it has been confirmed that the UGMO (with the SLR UST10-LX) can measure gait parameters such as gait velocity and stride length with sufficient sensitivity to determine age- and disease-related functional (and cognitive) decline.

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“…Cameras are not sufficiently robust to constantly detect the legs of a user given different clothing and different light conditions. Hence, a few extant experiments successfully detected the legs of human subjects by using a laser range sensor [48,49].…”

Section: Gait and Balance In The Elderlymentioning

confidence: 99%

Feasibility Study of a Socially Assistive Humanoid Robot for Guiding Elderly Individuals during Walking

Piezzo

Suzuki

2017

Future Internet

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The impact of the world-wide ageing population has commenced with respect to society in developed countries. Several researchers focused on exploring new methods to improve the quality of life of elderly individuals by allowing them to remain independent and healthy to the maximum possible extent. For example, new walking aids are designed to allow elderly individuals to remain mobile in a safe manner because the importance of walking is well-known. The aim of the present study involves designing a humanoid robot guide as a walking trainer for elderly individuals. It is hypothesized that the same service robot provides an assistive and social contribution with respect to interaction between elderly users by motivating them to walk more and simultaneously provides assistance, such as physical assistance and gait monitoring, while walking. This study includes a detailed statement of the research problem as well as a literature review of existing studies related to walking companion robots. A user-centred design approach is adopted to report the results of the current first feasibility study by using a commercially available humanoid robot known as Pepper developed by Softbank-Aldebaran. A quantitative questionnaire was used to investigate all elements that assess intrinsic motivation in users while performing a given activity. Conversely, basic gait data were acquired through a video analysis to test the capability of the robot to modify the gait of human users. The results in terms of the feedback received from elderly subjects and the literature review improve the design of the walking trainer for elderly individuals.Future Internet 2017, 9, 30 2 of 16 decelerate or even prevent cognitive decline, doctors recommend living a healthy life by following a healthy diet, performing physical exercise, and challenging the brain via social engagement or intellectual stimulations. Thus, it is important to perform any activity that keeps the brain active and improves blood circulation. Specifically, physical exercise is an important part of a healthy lifestyle that increases the sense of wellbeing of an individual. Walking itself is a completely accessible way of physical exercise because it suits all abilities, it is free, it does not require equipment, and it can be performed anywhere. Moreover, walking in an outside environment leads to interaction between an individual and others, and thus it can correspond to a social activity that can improve an individual's mood. There is no definitive evidence from randomised trials although studies continue to explore the potential of walking as a preventive treatment for dementia as well as a disease-modifying treatment [3,4]. A main question focuses on whether physical activity directly protects an individual from dementia by providing better oxygen supply or instead whether it offers indirect protection by reducing risks, such as hypertension, that impair cognition. In any case, walking must be considered as extremely important for elderly individuals due to its role in modifyin...

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Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly

Cited by 12 publications

References 11 publications

Contactless Gait Assessment in Home-like Environments

Contactless Gait Assessment in Home-like Environments

Scanning Laser Rangefinders for the Unobtrusive Monitoring of Gait Parameters in Unsupervised Settings

Feasibility Study of a Socially Assistive Humanoid Robot for Guiding Elderly Individuals during Walking

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