Assisted Gait Phase Estimation Through an Embedded Depth Camera Using Modified Random Forest Algorithm Classification

The paper presents a novel method for the classification of gait phases for power gait orthosis users based on machine learning. The classification uses depth images collected from a Time of Flight camera embedded in the crutches employed for the assisted gait. The machine learning algorithm foresees an initial phase of data collection and processing, identifying the 3D points belonging to the foot and those belonging to the floor. From these, a...