Gait detection and analysis based on omni-directional lower limb rehabilitation robot

In this paper, an ultrasonic gait detection and analysis method is introduced. The proposed detection system, which is fixed on an omni-directional lower limb rehabilitation robot, can get the gait parameters of subjects including step length, speed, and frequency, etc. A set of gait symmetry index is proposed to analysis walking symmetry of subjects, which is based on gait cycle phase, swing instantaneous velocity and the walking position of subject. Experimental results show that the gait detection system can timely get the gait information of subjects, it is proved that the walking symmetry of subject can be effectively analyzed by the suggested symmetry index.