Effects of Human-Robot Interaction in Smart Walker-Assisted Locomotion Using Mixed Reality Scenarios
Name: MATHEUS PENIDO LOUREIRO
Publication date: 07/08/2025
Examining board:
Name |
Role |
|---|---|
| ANSELMO FRIZERA NETO | Presidente |
| EDUARDO ROCON DE LIMA | Examinador Externo |
| PABLO JAVIER ALSINA | Examinador Externo |
Summary: The decline in neuromusculoskeletal function in older adults can significantly affect their motor control, independence, and walking ability, ultimately reducing their quality of life. With the global aging population on the rise, supporting independent mobility and enhancing rehabilitation techniques have become critical goals. The use of augmentative devices, such as smart walkers (SW) can help providing mobility assistance and enhancing residual movement capacity. SWs stand out among these devices by offering active physical support, fall prevention, as well as cognitive and navigation assistance. Despite these improvements, people may still experience frustration due to repetitive tasks and discomfort during recovery, which can lead to higher dropout rates in rehabilitation programs.
In this context, integrating rehabilitation devices with mixed reality (MR) tools offers a promising approach for gait training and rehabilitation, potentially improving clinical outcomes, motivation, and adherence to therapy. However, concerns about MR-induced cybersickness and potential changes in gait patterns remain. This master's dissertation investigates the gait parameters of fourteen elderly participants under three conditions: free walking (FW), SW assisted gait (AG), and SW assisted gait combined with MR assistance (AGMR). Kinematic data from both lower limbs were captured using a 3D wearable motion capture system to evaluate the kinematic changes associated with SW use and how MR integration may influence these adaptations.
Additionally, cybersickness symptoms were assessed using a questionnaire after the AGMR condition. The results reveal significant kinematic differences between FW and both AG and AGMR, with reductions in sagittal plane motion of 16%, 25%, and 38% at the hip, knee, and ankle, respectively, in both AG and AGMR compared to FW. However, no significant differences were observed between AG and AGMR gait parameters, and no MR-related adverse effects were reported. These findings suggest that MR can be effectively incorporated into walker-assisted gait rehabilitation without negatively impacting kinematic performance, while offering potential benefits for motivation and therapy adherence.
