A gait phase measurement system using treadmill motor current

Takeshi Ando*, Eiichi Ohki, Yasutaka Nakashima, Yutaka Akita, Hiroshi Iijima, Osamu Tanaka, Masakatsu G. Fujie

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    The article describes the development of a gait phase time-based split-belt treadmill measurement system. Conventional methods of measuring gait phase, such as the foot switch and force plate, require significant preparation and are costly. In this article, we propose a simple, cheap, and accurate gait phase measurement system that utilizes only the treadmill motor current value. Comparison of this algorithm with conventional methods reveals that the proposed algorithm is as accurate as the foot switch. Moreover, the proposed algorithm can estimate stance phase within a 0.2s error of the measured value of the force plate in most cases (four out of five healthy subjects). This accuracy is higher than that of the foot switch which is widely used in the clinical field.

    Original languageEnglish
    Pages (from-to)1727-1746
    Number of pages20
    JournalAdvanced Robotics
    Issue number15
    Publication statusPublished - 2012 Oct 1


    • gait phase
    • rehabilitation robot
    • treadmill motor current

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Human-Computer Interaction
    • Computer Science Applications
    • Hardware and Architecture
    • Software


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