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A Robotic Platform for Lower Limb Optical Motion Tracking in Open Space

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 38)

Abstract

Conventional human motion tracking techniques based on optical systems reports important limitations for mobile applications (e.g. small spatial covering, poor environment flexibility). The present paper addresses a novel approach for optical motion tracking in open space. The measurement unit is transferred from its stationary basis onto a robotic moving platform. The platform design and limitations are described in the first place. It follows a comparative analysis of the measurement data accuracy for the stationary and mobile system. Post-processing techniques to convert acquired motion from the platform coordinate system into the ground’s absolute one are evaluated for the specific application of gait analysis.

Keywords

Gait measurement Lower limb Optical motion tracking Mobile robot Mobile measurement system 

Notes

Acknowledgments

The study was supported by NCCR robotics, the National Center of Competence in Research (Switzerland), the ASRIM (Association Suisse Romande et Italienne contre les Myopathies) and the FSRMM (Fondation Suisse de Recherche sur les Maladies Musculaires).

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Ecole Polytechnique Fédérale de Lausanne (EPFL)Laboratory of Robotic Systems (LSRO)LausanneSwitzerland

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