抄録
To prevent falls in the elderly, gait measurements such as several-meters walk test are carried out in community health activities. To evaluate the risk of falling of the participant, a gait measurement system that can measure the walking parameters is required. This paper presents a novel gait measurement system which uses an autonomous mobile robot with laser range sensor (LRS) for a long-distance walk test regardless of detection range of sensor. The robot sequentially estimates its own pose and acquires the both leg positions of the participant. The robot leads the participant from the start to the goal of the walk test while maintaining a certain distance from the participant. Then, the foot contact times and the positions are calculated by analyzing estimated position and speed of each leg. From the experimental results, it is confirmed that the proposed robot could acquire the foot contact times and positions.
