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New Trends in Medical and Service Robots pp 93–105Cite as

A Robotic Platform for Lower Limb Optical Motion Tracking in Open Space

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 38))

Abstract

Conventional human motion tracking techniques based on optical systems reports important limitations for mobile applications (e.g. small spatial covering, poor environment flexibility). The present paper addresses a novel approach for optical motion tracking in open space. The measurement unit is transferred from its stationary basis onto a robotic moving platform. The platform design and limitations are described in the first place. It follows a comparative analysis of the measurement data accuracy for the stationary and mobile system. Post-processing techniques to convert acquired motion from the platform coordinate system into the ground’s absolute one are evaluated for the specific application of gait analysis.

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Acknowledgments

The study was supported by NCCR robotics, the National Center of Competence in Research (Switzerland), the ASRIM (Association Suisse Romande et Italienne contre les Myopathies) and the FSRMM (Fondation Suisse de Recherche sur les Maladies Musculaires).

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Authors and Affiliations

  1. Ecole Polytechnique Fédérale de Lausanne (EPFL), Laboratory of Robotic Systems (LSRO), Lausanne, Switzerland

    A. Ortlieb, J. Olivier, M. Bouri & H. Bleuler

Authors
  1. A. Ortlieb
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  2. J. Olivier
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  3. M. Bouri
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  4. H. Bleuler
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Corresponding author

Correspondence to A. Ortlieb .

Editor information

Editors and Affiliations

  1. LSRO—Robotic Systems Laboratory, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland

    Hannes Bleuler

  2. Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland

    Mohamed Bouri

  3. Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland

    Francesco Mondada

  4. Research Center for Industrial Robots, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  5. Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodic

  6. Force Dimension, Nyon, Switzerland

    Patrick Helmer

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© 2016 Springer International Publishing Switzerland

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Cite this paper

Ortlieb, A., Olivier, J., Bouri, M., Bleuler, H. (2016). A Robotic Platform for Lower Limb Optical Motion Tracking in Open Space. In: Bleuler, H., Bouri, M., Mondada, F., Pisla, D., Rodic, A., Helmer, P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, Cham. https://doi.org/10.1007/978-3-319-23832-6_8

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  • DOI: https://doi.org/10.1007/978-3-319-23832-6_8

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23831-9

  • Online ISBN: 978-3-319-23832-6

  • eBook Packages: EngineeringEngineering (R0)

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