A Walking Training System with Customizable Trajectory Designing

Shiyang Dong, Takafumi Matsumaru

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)35-52
Number of pages18
Issue number1
Publication statusPublished - 2014 Jun 24


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

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Developmental Neuroscience
  • Cognitive Neuroscience
  • Artificial Intelligence
  • Behavioral Neuroscience


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