A kinematic characterization of human walking by using CaTraSys

This paper presents an experimental characterization of the biomechanics of human gait by means of Cassino Tracking System (CaTraSys). CaTraSys is a passive cable-based parallel manipulator that is used to determine pose and exerted force of mechanical systems along large trajectories. It is a low-cost easy-operable system that has been used in this work for a clinical application as an assessing device for diagnosis and rehabilitation procedures. A procedure is outlined for experimental tests and analysis of acquired trajectory data. Basic characteristics are discussed by referring to two-dimensional and three-dimensional resulting gait patterns. Using spatiotemporal parameters, different test conditions and anthropometric characteristics are evaluated in order to assess their influence on human walking from the kinematic point of view.