Development of Stride Estimation System for Improvement of Walking Efficiency

Abstract

In this study, we aim to develop a walking assist device that enables extended walking training time via biofeedback. We are focusing on walking efficiency, aiming to increase walking training time by giving appropriate feedback in real time. The stride length and stride frequency are measured in real time, and walking efficiency is estimated from that information. Based on the resulting stride length and stride frequency, a motor attached to the walking assist device provides the appropriate torque to the subject. As a result, the subject can know whether their stride needs to be lengthened or shortened, and the subject’s stride can be improved to be more efficient. In this study, in order to estimate the stride length, it is important to accurately estimate the rotational angle around the vertical axis of the waist. Therefore, in this report, we estimate the rotational angle of the waist using a geomagnetic sensor.