Using an Autonomous Service Robot for Detection of Floor Level Obstacles and its Influence to the Gait

Nils VolkeningAndreas Hein
The Fourth International Conference on Ambient Computing, Applications, Services and Technologies
Depending on the aging society, new care concepts for older people are needed, especially the preservation of the personal mobility should be in focus. A solution could be the use of information and communication technology (ICT) based solutions. A key role to preserve the autonomy and social interaction of older persons is their mobility. The prevention of fall events is a goal for the Housing Enabling (HE) Assessments by adaption of room, e.g., by detect and remove tripping hazard. It was pointed out, that an automated HE Assessment executed by an autonomous service robot could reach a better quality and a higher acceptance. In this paper, we present the first try to detect relevant unevenness of the floor in home environment with an autonomous service robot and the upcoming problems. Also, first results which kind of influence has the environment to gait parameters (gait speed, step / stride length and the variation). For the gait analysis, we used a Microsoft® Kinect and for measurement of the unevenness of the floor we used the Primesense Carmine 1.08 depth sensor.
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