A Gait Recognition System for Interaction with a Homecare Mobile Robot

With the development of intelligent sensing and human-robot interaction technology, homecare robots play an increasingly important role in the field of homecare services. At the same time, the interaction between the operator and the homecare robot is particularly valued. This paper proposed a homecare robot interaction system based on a wearable inertial motion capture device. In this system, the wearable motion capture device is used to capture the operator’s motion signals. After processing the motion signals and recognizing the corresponding motion poses, the system controls the homecare robot to imitate the intention of the operator. In this paper, we focused on controlling the movement of the homecare robot through the operator’s lower limb motion data and designed a novel gait recognition algorithm. The proposed system was evaluated experimentally, proving that the system has strong performance and practicality.