Estudio y caracterización de la cinemática de los pies en marcha asistida con andadores

Translated title of the contribution: Study and characterization of feet kinematics in walker assisted gait

A. Frizera*, A. Abellanas, R. Ceres, Jose L Pons, R. Raya

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


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.

Translated title of the contributionStudy and characterization of feet kinematics in walker assisted gait
Original languageSpanish
Pages (from-to)69-79
Number of pages11
JournalRIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Issue number4
StatePublished - Oct 2009


  • Human gait
  • Human-machine interfaces
  • Modeling
  • Rehabilitation robotics
  • Ultrasound

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science


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