Desenvolvimento de um sistema de controle sem marcas para uma estrutura de reabilitação da marcha humana

Abstract

The robotic structures for rehabilitation of the human gait have high costs and influence in the rehabilitation treatments, causing discomfort and pain to the patients. To reduce costs and discomforts caused by markers or exoskeletons during treatments, this work aims to develop a markerless system for a robotic structure for the rehabilitation of human gait. As markerless, it is understood that the body movements will be used without the need for an exoskeleton or markers attached to the body. Such system will be used to actuate a split treadmill at the start of the human gait swing phase. The main hardware used for the system is the Microsoft Kinect v2 that is capable of tracking and capturing the joints of the human body. To validate the operation of the proposed algorithm, a validation system was developed based on footswitches sensors that identify the phases of the human gait simultaneously with the developed system, which uses as main coordinate of tracking the ankle joint. From the experimental tests carried out on volunteers with healthy and pathological gait, the markerless system proposed in this dissertation can trigger the rehabilitation structure, on average, up to 3 frames difference or about 0.12 seconds, allowing the use of this system in the rehabilitation structure of human gait.