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

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