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Measuring Gait Using a Ground Laser Range Sensor
Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain
* Author to whom correspondence should be addressed.
Received: 7 August 2009; in revised form: 20 October 2009 / Accepted: 24 October 2009 / Published: 17 November 2009
Abstract: This paper describes a measurement system designed to register the displacement of the legs using a two-dimensional laser range sensor with a scanning plane parallel to the ground and extract gait parameters. In the proposed methodology, the position of the legs is estimated by fitting two circles with the laser points that define their contour and the gait parameters are extracted applying a step-line model to the estimated displacement of the legs to reduce uncertainty in the determination of the stand and swing phase of the gait. Results obtained in a range up to 8 m shows that the systematic error in the location of one static leg is lower than 10 mm with and standard deviation lower than 8 mm; this deviation increases to 11 mm in the case of a moving leg. The proposed measurement system has been applied to estimate the gait parameters of six volunteers in a preliminary walking experiment.
Keywords: gait measurement; laser range sensor; LIDAR
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MDPI and ACS Style
Pallejà, T.; Teixidó, M.; Tresanchez, M.; Palacín, J. Measuring Gait Using a Ground Laser Range Sensor. Sensors 2009, 9, 9133-9146.
Pallejà T, Teixidó M, Tresanchez M, Palacín J. Measuring Gait Using a Ground Laser Range Sensor. Sensors. 2009; 9(11):9133-9146.
Pallejà, Tomàs; Teixidó, Mercè; Tresanchez, Marcel; Palacín, Jordi. 2009. "Measuring Gait Using a Ground Laser Range Sensor." Sensors 9, no. 11: 9133-9146.