Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly
Development of gait measurement robot using laser range sensor for evaluating long-distance walking ability in the elderly
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DOI：
10.1109/iros.2015.7354064
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Ayanori Yorozu;Masaki Takahashi
中科院分区：
文献类型：
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作者：
Ayanori Yorozu;Masaki Takahashi
跌倒是日益增长的老年人口的常见问题，跌倒风险评估系统需要以社区为基础的跌倒预防计划。特别是，在社区卫生活动中进行步态测量，如几米步行测试。为了评估参与者的行走能力，有必要测量脚接触位置，以便可以将步行参数（如步长）用于跌倒风险评估。然而，传统的测量系统由于其规模、成本和测量范围的限制而难以安装用于社区卫生活动。因此，我们提出了一种步态测量机器人（GMR）使用激光测距传感器（LRS）的长距离步行测试。根据对年轻人的实验结果，证实了GMR可以测量腿部轨迹和脚接触位置。然而，特别是在老年人的情况下，由于步幅窄，很可能发生错误跟踪。此外，GMR通过分析每条腿的估计位置和速度来计算脚接触位置。在老年人的情况下，由于步行速度可能很慢，所以GMR可能无法正确地检测脚接触。在本研究中，我们进行了7米直线步行测试与老年人使用固定LRS的测量与GMR的预先验证。我们验证了腿跟踪和脚接触检测使用固定的LRS在老年人相比，视频分析。
Falling is a common problem in the growing elderly population and fall-risk assessment systems are needed for community-based fall prevention program. In particular, gait measurements such as several-meters walk tests are carried out in community health activities. To evaluate the walking ability of the participant, it is necessary to measure foot contact positions so that the walking parameters such as stride length can be used for fall-risk assessment. However, the conventional measurement systems are difficult to install for use in community health activities because of their scale, cost and constraints of the measurement range. Therefore, we propose a gait measurement robot (GMR) using laser range sensor (LRS) for a long-distance walk tests. From the experimental results with young people, it was confirmed that the GMR could measure the both leg trajectory and the foot contact positions. However, in the case of the elderly especially, a false tracking is likely to occur due to the narrow stride. In addition, the GMR calculates the foot contact positions by analyzing the estimated position and speed of each leg. In the case of the elderly, there is a possibility that the GMR cannot detect the foot contact correctly because the walking speed is likely to be slow. In this study, we carry out the seven-meter straight walk tests with the elderly people using a stationary LRS for the advance verification of measurement in the elderly with the GMR. We verify the leg tracking and foot contact detection using a stationary LRS in the elderly compared with the video analysis.