Ingeniería de Sistemas Integrados Group, Electronics Technology Department, University of Málaga-UMA, Complejo Tecnológico, 29071 Málaga, Spain.
Department of Computer Science and Programming Languages, ITIS Software, University of Málaga-UMA, Complejo Tecnológico, 29071 Málaga, Spain.
Sensors (Basel). 2022 Mar 8;22(6):2086. doi: 10.3390/s22062086.
Rollators are widely used in clinical rehabilitation for gait assessment, but gait analysis usually requires a great deal of expertise and focus from medical staff. Smart rollators can capture gait parameters autonomously while avoiding complex setups. However, commercial smart rollators, as closed systems, can not be modified; plus, they are often expensive and not widely available. This work presents a low cost open-source modular rollator for monitorization of gait parameters and support. The whole system is based on commercial components and its software architecture runs over ROS2 to allow further customization and expansion. This paper describes the overall software and hardware architecture and, as an example of extended capabilities, modules for monitoring dynamic partial weight bearing and for estimation of spatiotemporal gait parameters of clinical interest. All presented tests are coherent from a clinical point of view and consistent with input data.
助步车广泛应用于临床康复中的步态评估，但步态分析通常需要医务人员具备大量专业知识和专注力。智能助步车可以在自主捕捉步态参数的同时避免复杂的设置。然而，商业化的智能助步车作为封闭系统，无法进行修改；此外，它们通常昂贵且难以普及。本工作提出了一种低成本的开源模块化助步车，用于监测步态参数和提供支撑。整个系统基于商业组件构建，其软件架构运行在 ROS2 上，以允许进一步定制和扩展。本文介绍了整体软件和硬件架构，以及作为扩展功能的示例，包括用于监测动态部分体重支撑的模块和用于估计临床关注的时空步态参数的模块。所有呈现的测试从临床角度来看都是连贯的，与输入数据一致。
