Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection

[EN] This work presents the experimental evaluation of a robotic walker following the full implementation of its sensor and motorization system. The aging population and increasing mobility impairments drive the need for assistive robotic technologies that enhance safe and independent movement. The...

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Autores: Dunai, Larisa|||0000-0002-5076-0695, Seguí Verdú, Isabel|||0009-0009-5976-3348, Lengua, Ismael|||0000-0002-4320-8325, Liang, Sui
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/230404
Acceso en línea:https://riunet.upv.es/handle/10251/230404
Access Level:acceso abierto
Palabra clave:Robotic walker
Gait analysis
Assistive technology
Sensors
Inertial measurement unit (IMU)
Time-of-flight (TOF) sensors
Principal component analysis (PCA)
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oai_identifier_str oai:riunet.upv.es:10251/230404
network_acronym_str ES
network_name_str España
repository_id_str
spelling Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement DetectionDunai, Larisa|||0000-0002-5076-0695Seguí Verdú, Isabel|||0009-0009-5976-3348Lengua, Ismael|||0000-0002-4320-8325Liang, SuiRobotic walkerGait analysisAssistive technologySensorsInertial measurement unit (IMU)Time-of-flight (TOF) sensorsPrincipal component analysis (PCA)[EN] This work presents the experimental evaluation of a robotic walker following the full implementation of its sensor and motorization system. The aging population and increasing mobility impairments drive the need for assistive robotic technologies that enhance safe and independent movement. The main objective was to validate the device's behavior in real-use scenarios by assessing its stability, responsiveness, and accuracy in detecting user movement. Tests were carried out in straight-line walking and on paths involving directional changes, both with and without motor assistance, using a cohort of five test users. Principal Component Analysis (PCA) and t-SNE dimensionality reduction techniques were applied to analyze the inertial (IMU) and proximity (TOF) sensor data, complemented by motor control monitoring through wheel Hall sensors, to explore gait patterns and system performance. Additionally, synchronized measurements between the user's and walker's inertial units and Time-of-Flight sensors allowed the evaluation of spatial alignment and motion correlation. The results provide a foundation for future system adjustment and optimization, ensuring the walker offers effective, safe, and adaptive assistance tailored to the user's needs. Findings reveal that the walker successfully distinguishes individual gait patterns and adapts its behavior accordingly, demonstrating its potential for personalized mobility support.This research was funded by Industrial Electronics Society grant number 20240537.MDPI AGDepartamento de Ingeniería GráficaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialEscuela Técnica Superior de Ingeniería IndustrialCentro de Investigación en Tecnologías GráficasEscuela Politécnica Superior de GandiaRepositorio Institucional de la Universitat Politècnica de València Riunet20252025-05-29journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/230404reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/2304042026-06-13T07:49:27Z
dc.title.none.fl_str_mv Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
title Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
spellingShingle Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
Dunai, Larisa|||0000-0002-5076-0695
Robotic walker
Gait analysis
Assistive technology
Sensors
Inertial measurement unit (IMU)
Time-of-flight (TOF) sensors
Principal component analysis (PCA)
title_short Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
title_full Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
title_fullStr Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
title_full_unstemmed Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
title_sort Evaluating Robotic Walker Performance: Stability, Responsiveness, and Accuracy in User Movement Detection
dc.creator.none.fl_str_mv Dunai, Larisa|||0000-0002-5076-0695
Seguí Verdú, Isabel|||0009-0009-5976-3348
Lengua, Ismael|||0000-0002-4320-8325
Liang, Sui
author Dunai, Larisa|||0000-0002-5076-0695
author_facet Dunai, Larisa|||0000-0002-5076-0695
Seguí Verdú, Isabel|||0009-0009-5976-3348
Lengua, Ismael|||0000-0002-4320-8325
Liang, Sui
author_role author
author2 Seguí Verdú, Isabel|||0009-0009-5976-3348
Lengua, Ismael|||0000-0002-4320-8325
Liang, Sui
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería Gráfica
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Escuela Técnica Superior de Ingeniería Industrial
Centro de Investigación en Tecnologías Gráficas
Escuela Politécnica Superior de Gandia
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Robotic walker
Gait analysis
Assistive technology
Sensors
Inertial measurement unit (IMU)
Time-of-flight (TOF) sensors
Principal component analysis (PCA)
topic Robotic walker
Gait analysis
Assistive technology
Sensors
Inertial measurement unit (IMU)
Time-of-flight (TOF) sensors
Principal component analysis (PCA)
description [EN] This work presents the experimental evaluation of a robotic walker following the full implementation of its sensor and motorization system. The aging population and increasing mobility impairments drive the need for assistive robotic technologies that enhance safe and independent movement. The main objective was to validate the device's behavior in real-use scenarios by assessing its stability, responsiveness, and accuracy in detecting user movement. Tests were carried out in straight-line walking and on paths involving directional changes, both with and without motor assistance, using a cohort of five test users. Principal Component Analysis (PCA) and t-SNE dimensionality reduction techniques were applied to analyze the inertial (IMU) and proximity (TOF) sensor data, complemented by motor control monitoring through wheel Hall sensors, to explore gait patterns and system performance. Additionally, synchronized measurements between the user's and walker's inertial units and Time-of-Flight sensors allowed the evaluation of spatial alignment and motion correlation. The results provide a foundation for future system adjustment and optimization, ensuring the walker offers effective, safe, and adaptive assistance tailored to the user's needs. Findings reveal that the walker successfully distinguishes individual gait patterns and adapts its behavior accordingly, demonstrating its potential for personalized mobility support.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-05-29
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/230404
url https://riunet.upv.es/handle/10251/230404
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869420770316255232
score 15.812455

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