Robotic Platform for Gait Disorders Monitoring

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60461373%3A22340%2F15%3A43899366" target="_blank" >RIV/60461373:22340/15:43899366 - isvavai.cz</a>
Result on the web
<a href="http://akce.fs.vsb.cz/2015/asr2015/Sbornik-ASR2015.pdf" target="_blank" >http://akce.fs.vsb.cz/2015/asr2015/Sbornik-ASR2015.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Robotic Platform for Gait Disorders Monitoring
Original language description
This paper is focused on the control of a six wheeled robotic platform used for the gait pattern recording of people with gait disorders. A key part of the whole robotic platform is a MS Kinect v2 device which tracks the patients' gait. The Kinect also provides the information about the distance driven by the robot to a micro controller LPC1768 which is responsible for the wheels' control. The driven distance is controlled by six encoders that are connected directly to the motor shafts. There is a cascade of controllers in the LPC for the distance and speed control. The first level of the controller ramps the speed for a smooth start and stop. The second level is represented by three controllers; each one takes care of the wheel speeds on one axle. Another six controllers are in the third level, each is responsible for a more precise speed control of one wheel.
Czech name
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Czech description
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Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings XXXIX. Seminar ASR 2015 Instruments and Control
ISBN
978-80-248-3744-4
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
20-24
Publisher name
VŠB - Technická univerzita Ostrava
Place of publication
Ostrava
Event location
Ostrava
Event date
Apr 24, 2015
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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