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Paper Abstract and Keywords
Presentation 2015-12-18 10:30
Gait Measurement Robot for Evaluating Long-distance Walking Ability
Ayanori Yorozu, Masaki Takahashi (Keio Univ.) CNR2015-24
Abstract (in Japanese) (See Japanese page) 
(in English) To evaluate the walking ability, gait measurements are carried out in community health activities. In this study, we propose a gait measurement robot (GMR) using laser range sensor (LRS) for a long-distance walk tests regardless of detection range of sensor. The GMR sequentially estimates its own pose and acquires the both leg positions of the participant. The robot leads the participant from the start to the goal of the walk test while maintaining a certain distance from the participant. To verify the GMR measurement accuracy, we carry out the straight walk tests with young people. In addition, 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.
Keyword (in Japanese) (See Japanese page) 
(in English) Gait Measurement / Omnidirectional Mobile Robot / Kalman Filter / Laser Range Sensor / / / /  
Reference Info. IEICE Tech. Rep., vol. 115, no. 375, CNR2015-24, pp. 49-54, Dec. 2015.
Paper # CNR2015-24 
Date of Issue 2015-12-10 (CNR) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CNR2015-24

Conference Information
Committee CNR  
Conference Date 2015-12-17 - 2015-12-18 
Place (in Japanese) (See Japanese page) 
Place (in English)  
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Paper Information
Registration To CNR 
Conference Code 2015-12-CNR 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Gait Measurement Robot for Evaluating Long-distance Walking Ability 
Sub Title (in English)  
Keyword(1) Gait Measurement  
Keyword(2) Omnidirectional Mobile Robot  
Keyword(3) Kalman Filter  
Keyword(4) Laser Range Sensor  
1st Author's Name Ayanori Yorozu  
1st Author's Affiliation Keio University (Keio Univ.)
2nd Author's Name Masaki Takahashi  
2nd Author's Affiliation Keio University (Keio Univ.)
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Date Time 2015-12-18 10:30:00 
Presentation Time 30 
Registration for CNR 
Paper # IEICE-CNR2015-24 
Volume (vol) IEICE-115 
Number (no) no.375 
Page pp.49-54 
#Pages IEICE-6 
Date of Issue IEICE-CNR-2015-12-10 

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