Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Kinect and Wearable Robots
Submission Author:
Rogério Sales Gonçalves , MG , Brazil
Co-Authors:
Ítalo Rodrigues, Hermano Krebs, Rogério Sales Gonçalves
Presenter: Rogério Sales Gonçalves
doi://10.26678/ABCM.COBEM2017.COB17-0240
Abstract
Exoskeleton and wearable robotics provide potentially helpful tools for gait therapy in stroke patients. To evaluate outcomes, one might employ motion capture systems to analyze gait parameters. Here we report our efforts to employ a cheap motion capture system, Kinect, to capture data on three healthy subjects while wearing our Anklebot. Results showed that the default Kinect body tracking software failed in some frames to identify some of the human joints. Thus, we developed an alternative using infrared markers fixed to the lower limb of the patient to calculate the kinematic parameters of the human gait in the sagittal plane from the use of Kinect. We characterize the performance of this vision system as showing errors of less than 4% compared with a digital protractor.
Keywords
Rehabilitation Robotics, Stroke, Lower Extremity, Kinect, Anklebot
