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Updated: Oct 31, 2025

Measuring the Kinematics of Daily Living Movements with Motion Capture Systems in Virtual Reality
Published on: April 5, 2018
User Local Coordinate-Based Accompanying Robot for Human Natural Movement of Daily Life
Hsiao-Kuan Wu1,2, Po-Yin Chen1,3,4, Hong-Yi Wu1
1Department of Physical Therapy and Assistive Technology, National Yang Ming Chiao Tung University, Taipei 11221, Taiwan.
Abstract:
Considering the trend of aging societies, accompanying technology can help frail, elderly individuals participate in daily activities. The ideal accompanying robot should accompany the user in a proper position according to the activity scenarios and context; the prerequisite is that the accompanying robot should quickly move to a designated position and closely maintain it regardless of the direction in which the user moves. This paper proposes a user local coordinate-based strategy to satisfy this need. As a proof of concept, a novel "string-pot" approach was utilized to measure the position difference between the robot and the target. We implemented the control strategy and assessed its performance in our gait lab. The results showed that the robot can follow the user in the designated position while the user performs forward, backward, and lateral movements, turning, and walking along a curve.
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