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Author: search.filters.author.David ÁlvarezSubject: search.filters.subject.Control design

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    Item type:Publication,
    Control Design and Validation of Gait Analysis with the Robogait Mobile Robotic Platform
    (Springer Nature Switzerland, 2025-09-03)
    GUFFANTI MARTÍNEZ, DIEGO ANDRES  
    ;
    Alberto Brunete
    ;
    Miguel Hernando Gutierrez
    ;
    David Álvarez
    ;
    GUTIÉRREZ SUQUILLO, NELSON RAMIRO  
    The integration of mobile robotic platforms with depth sensors could led to a major advance in human gait analysis. However, the lack of dedicated technologies designed specifically for corridor-based gait analysis limits the availability of comprehensive tools to accurately and efficiently capture and analyze gait data in this specific context. In this study, control algorithms for person following and lane keeping of a mobile robotic platform named Robogait were applied and validated experimentally. The validity of using an Azure Kinect sensor for gait analysis was also examined using gait data collected from 10 participants and comparing its accuracy in gait signals and gait parameters with respect to a Vicon photogrammetric system. Results in controller design demonstrated a path following error of only 0.0446 m was measured on average, with a maximum deviation of 0.1420 m. The person tracking presented slight oscillations, however it did not affect the performance of the system in the gait analysis. An RMSE error of 12.68 was obtained for knee flex./ext., 5.54 for hip flex./ext., and just 0.06 m for the inter-ankle distance. Regarding gait descriptors analyzed, the Azure Kinect system provides reliable gait event measurements, though some discrepancies exist compared to Vicon. This study validates the use of the Azure Kinect sensor in gait analysis with mobile platforms. This offers a low-cost solution in real environments such as hospital corridors, contrary to in-lab gait analysis where the influence of equipment and the controlled environment could alter the gait pattern. The robot setup errors were comparable to static treadmill systems and similar to those of Vicon systems, which highlights its potential in clinical and rehabilitation applications.