Human gait characterization with low-cost inertial sensors for applications in physical human-robot interaction

• Grant number: 25/07174-1
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: August 01, 2025
• End date: July 31, 2026
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Felix Mauricio Escalante Ortega
• Grantee: Amanda Barbosa Camilotti
• Host Institution: Instituto de Ciência e Tecnologia. Universidade Estadual Paulista (UNESP). Campus de Sorocaba. Sorocaba , SP, Brazil

Abstract

The characterization of human gait is critical for the development of wearable robotic systems applied to assistance, rehabilitation, and physical human-robot interaction. In obotic devices such as exoskeletons and active orthoses, accurate segmentation of gait phases is essential to ensure stable, safe, and adaptive responses to biomechanical variations in the individuals. Despite advances in biomechanical instrumentation, traditional gait analysis systems remain costly and require controlled environments, limiting their applicability in real-world and resource-constrained settings. This research proposal aims to investigate the use of low-cost Inertial Measurement Units (IMUs) to estimate gait cycle events and relevant biomechanical parameters within the context of human-robot interaction applications. The proposal seeks to combine portability, accessibility, and accuracy to develop an efficient solution for gait segmentation in unstructured environments. The expected outcome is to contribute to the advancement of accessible robotic technologies that are responsive to individual biomechanical variability, foresting personalized solutions in motor assistance and rehabilitation.