System for estimation of step length and width during the human gait process

This repository contains the CAD files and software to build a step length and width estimation system. A four-wheeled mobile platform equipped with a depth camera (RGB-D) and two piezoresistive sensors located in two shoe insoles is used. The camera focuses on the participant's feet and, in synchronization with the sensors, collects heel strike information during gait to calculate the variables of interest. The proposed system aims to overcome some limitations of current systems, such as capturing motion during long walks and the need for expensive and complex devices. This system has been designed with an intuitive architecture, prioritizing ease of use, and is characterized by its replicability, portability and low cost.本仓库包含用于构建步长与步宽估计系统的计算机辅助设计（CAD）文件与配套软件。本系统采用搭载深度相机（RGB-D）的四轮移动平台，以及内嵌于两只鞋内底的两枚压阻式传感器。该相机对准受试者的足部，并与传感器同步采集步态过程中的足跟触地信息，以此计算目标变量。本研究提出的系统旨在克服现有系统的若干局限，例如无法支持长距离行走场景下的运动采集，以及必须依赖昂贵复杂设备的问题。本系统采用直观的架构设计，优先兼顾易用性，其显著特点为可复现性强、便携性佳且成本低廉。