Next Article in Journal
Assessment of Taste Attributes of Peanut Meal Enzymatic-Hydrolysis Hydrolysates Using an Electronic Tongue
Next Article in Special Issue
Estimation of Joint Forces and Moments for the In-Run and Take-Off in Ski Jumping Based on Measurements with Wearable Inertial Sensors
Previous Article in Journal
Temperature-Compensated Force/Pressure Sensor Based on Multi-Walled Carbon Nanotube Epoxy Composites
Previous Article in Special Issue
Comparison of sEMG-Based Feature Extraction and Motion Classification Methods for Upper-Limb Movement
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(5), 11151-11168; doi:10.3390/s150511151

Gait Measurement System for the Multi-Target Stepping Task Using a Laser Range Sensor

School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Department of Physical Therapy, Human Health Sciences, Graduate School of Medicine, Kyoto University, 53 Kawahara-cho, Shogoin, Sakyo-ku, Kyoto 606-8507, Japan
Graduate School of Comprehensive Human Sciences, University of Tsukuba, 3-29-1 Otsuka, Bunkyo-ku, Tokyo 112-0012, Japan
Research & Development Division, Murata Machinery, Ltd., 136 Takeda-Mukaishiro-cho, Fushimi-ku, Kyoto 612-8686, Japan
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Author to whom correspondence should be addressed.
Academic Editor: Oliver Amft
Received: 9 March 2015 / Revised: 2 May 2015 / Accepted: 8 May 2015 / Published: 13 May 2015
(This article belongs to the Special Issue Sensor Systems for Motion Capture and Interpretation)
View Full-Text   |   Download PDF [7321 KB, uploaded 13 May 2015]   |  


For the prevention of falling in the elderly, gait training has been proposed using tasks such as the multi-target stepping task (MTST), in which participants step on assigned colored targets. This study presents a gait measurement system using a laser range sensor for the MTST to evaluate the risk of falling. The system tracks both legs and measures general walking parameters such as stride length and walking speed. Additionally, it judges whether the participant steps on the assigned colored targets and detects cross steps to evaluate cognitive function. However, situations in which one leg is hidden from the sensor or the legs are close occur and are likely to lead to losing track of the legs or false tracking. To solve these problems, we propose a novel leg detection method with five observed leg patterns and global nearest neighbor-based data association with a variable validation region based on the state of each leg. In addition, methods to judge target steps and detect cross steps based on leg trajectory are proposed. From the experimental results with the elderly, it is confirmed that the proposed system can improve leg-tracking performance, judge target steps and detect cross steps with high accuracy. View Full-Text
Keywords: gait measurement; laser range sensor; Kalman filter; data association gait measurement; laser range sensor; Kalman filter; data association

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Yorozu, A.; Nishiguchi, S.; Yamada, M.; Aoyama, T.; Moriguchi, T.; Takahashi, M. Gait Measurement System for the Multi-Target Stepping Task Using a Laser Range Sensor. Sensors 2015, 15, 11151-11168.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top