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Development of a markerless control system for the mit-skywalker

Lookup NU author(s): Professor Hermano Krebs


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© 2021, Levrotto and Bella. All rights reserved.This paper describes the development of a markerless control system for the MIT-Skywalker. The markerless system is used to command the drop of the split treadmill at the start of the swing phase. We used a Microsoft Kinect V2 to track human gait. To validate our algorithm, we compared the timing obtained from footswitches to the phases identified with the Kinect system. Experimental tests carried out on healthy volunteers and stroke survivors demonstrated that our markerless system is accurate within 3 frames or about 120 milliseconds and can be used during therapy.

Publication metadata

Author(s): Goncalves RS, Salim VV, Krebs HI

Publication type: Article

Publication status: Published

Journal: International Journal of Mechanics and Control

Year: 2021

Volume: 22

Issue: 1

Pages: 143-152

Online publication date: 01/06/2021

Acceptance date: 02/04/2018

ISSN (print): 1590-8844

Publisher: Levrotto and Bella