Development of Gait Measurement Robot for Prevention of Falls in the Elderly

Gait monitoring for older adults during guided walking: An integrated assistive robot and wearable sensor approach

“…A comprehensive review of the applications of stationary depth imaging sensors in elderly care, including movement analysis and balance training, can be found in Webster and Celik ( 2014 ). RGB-D cameras (Stone and Skubic, 2011 ; Gabel et al, 2012 ; Clark et al, 2013 ) and laser range sensors (LRS) (Pallejà et al, 2009 ; Yorozu et al, 2014 ) can estimate a basic set of gait parameters, but they share some of the drawbacks of optical motion capture systems, for example, constrained workspaces and occlusions. Stationary cameras also require costly modifications to an individual’s home, and their acceptance is hampered by users’ privacy concerns.…”

Human-centered X–Y–T space path planning for mobile robot in dynamic environments

“…In the real-world, the robot has to estimate the human's position and velocity when applying the proposed method. Therefore, the robot equips with leg detection using an LRF and estimates of the human's position and velocity by the Kalman filter [27,28].…”

“…(1) First, the positions of the obstacles and personal space [22] are calculated by human's position and velocity [27,28], and these areas are set as G occupied as shown in Fig. 2(b).…”