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Paladyn, Journal of Behavioral Robotics

Editor-in-Chief: Schöner, Gregor

CiteScore 2017: 0.33

SCImago Journal Rank (SJR) 2017: 0.104

ICV 2017: 99.90

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A Walking Training System with Customizable Trajectory Designing

Shiyang Dong
  • Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, 808-0135, Japan
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Takafumi Matsumaru
  • Graduate School of Information, Production and Systems, Waseda University, Kitakyushu, 808-0135, Japan
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
Published Online: 2014-06-24 | DOI: https://doi.org/10.2478/pjbr-2014-0003


This paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for different users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to define the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results,we have confirmed the systemworks as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

Keywords : Walking Training System; Foot-eye Coordination; Human-robot Interaction; Mobile Robot; Step-on Interface; Customizable Trajectory Designing; Foot Model; Lower-limb Rehabilitation


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About the article

Received: 2013-06-25

Accepted: 2014-05-20

Published Online: 2014-06-24

Citation Information: Paladyn, Journal of Behavioral Robotics, Volume 5, Issue 1, ISSN (Online) 2081-4836, DOI: https://doi.org/10.2478/pjbr-2014-0003.

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© Shiyang Dong and Takafumi Matsumaru. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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