Human Gait Model Identification Approach Based on Foot Trajectory

Identification of gait parameters is one of the most important tasks allowing to estimate stability of walking aid devices usage case and biped robots. The estimation approach has been proposed and used to estimate model parameters using the foot trajectory. This method uses only foot coordinates of captured data and shows fast estimation. Efficiency of proposed approach is demonstrated by simulation as well as experimental results in comparison with another well-known method. An approach of the data preprocessing is applied to make motion captured data suitable for estimation. Estimated parameters of the model could be applied to estimation of walking robots stability and human walking in case of aid devices usage.