Development and validation of a ROS-based mobile robotic platform for human gait analysis applications

Background: The integration of mobile robotic platforms in human gait analysis offers the potential to develop multiple medical applications and achieve new discoveries. The aim of this paper is to present a first design and validation of a ROS-based mobile robotic platform for human gait analysis. Methods: During the design stage, the model identification and the configuration of the control law were performed. The design of the control law required the integration of a lead compensator and a Filtered Smith Predictor (FSP). During the validation procedure, the accuracy of the system to retrieve kinematic gait data and the main descriptors of gait disorders was calculated with respect to the ground truth of a Vicon system. For this purpose, one hundred gait recordings were processed thanks to the collaboration of twenty participants. The participants walked in a one-way straight line gait. Results: Results showed high correlation and low error rates mainly in joint excursions from sagittal and transverse planes. Conclusion: This gait analysis system demonstrated several advantages compared with the current approaches. The use of a mobile robotic platform allowed gait analysis in long tracking ranges and without space limitations. Furthermore, the design of a suitable control law allowed a smooth tracking of the person. This led to optimal results when assessing joint excursions. Significance: This system represents a cost-effective and non-invasive alternative that could be used for human gait analysis applications. (C) 2021 Elsevier B.V. All rights reserved.