Sensing methodologies for gait parameters estimation and control

One of the essential aspects of assistive and rehabilitation robots is related to gait evaluation and analysis. In general, multiple sensing technologies are available to acquire gait information. Among these are sensing devices involving inertial sensors, ultrasonic sensors, laser rangefinders, and plantar pressure sensors. From the information provided by these devices, it is possible to calculate spatiotemporal gait parameters such as cadence, speed, step length, among others. It is also possible to detect and characterize the phases of the gait cycle. Accordingly, this chapter presents a description of the most relevant gait indicators and some wearable sensors that allow their acquisition. Finally, there are described two usage scenarios for a lower-limb exoskeleton and a robotic walker. These scenarios describe two methodologies to extract gait parameters from an inertial sensor and a laser rangefinder