Estudio y Caracterización de la Cinemática de los Pies en Marcha Asistida con Andadores

摘要

In this work, general considerations are placed regarding the application of robotics in personal assistance aiming in particular the necessities of people with physical, sensory or cognitive impairments. The main focus of this work is the configuration of a series of ultrasonic transducers for the measurement of the relative position between the user’s feet and a robotic walker during gait. From such measurements, descriptive parameters of the human gait are obtained. Such parameters were used to elaborate a novel analytical formulation describing the feet evolution in time. Such ultrasonic system is integrated in an advanced walker that consists of a multisensory platform to study the human-machine interaction and cooperation in assisted gait.