Irregular Terrain Performance indicators

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Copyright CSIC 2020

Purposes

This toolbox allows computing Performance Indicator (PI) within the Irregular Terrain project protocol. In particular, margin of stability (MoS), walking ratio (WR), ratio index (RI) and gait parameters variability can be computed. The toolbox contains four PIs algorithms.

Installation

To enable the code under octave, additional packages are needed. Follow this link to make the installation of the additional packages needed.

Once octave is configured:

pkg load io

Usage

from Octave

If octave is opened from the repository root, assuming we created before a folder named output:

addpath("Margin_Stability_octave/src")
addpath("Tools/src")
# For the Margin stability computation
marginStability_calculation("Margin_Stability_octave/tests/data/input/COM_plano01.csv", "Margin_Stability_octave/tests/data/input/gaitEvents_plano01.csv", "Margin_Stability_octave/tests/data/input/FeetTrajectories_plano01.csv", "Margin_Stability_octave/tests/data/input/Anthropometry.yaml", "output")

addpath("Walk_Ratio_octave/src")
addpath("Tools/src")
walkRatio_calculation("Walk_Ratio_octave/tests/data/input/GaitParameters_noExo.yaml", "output")

addpath("Ratio_Index_octave/src/")
addpath("Tools/src")
ratioIndex_calculation("Ratio_Index_octave/tests/data/input/GaitParameters_noExo.yaml", "output")

addpath("Variability_octave/src/")
addpath("Tools/src")
variability_calculation("Variability_octave/tests/data/input/GaitParameters_exo.yaml", "Variability_octave/tests/data/input/GaitParameters_noExo.yaml", "output")

Using the scripts

This is tested under linux. From the repository root, assuming that folder output already exists:

# for the margin of stability
./run_pi_margin_stability Margin_Stability_octave/tests/data/input/COM_plano01.csv Margin_Stability_octave/tests/data/input/gaitEvents_plano01.csv Margin_Stability_octave/tests/data/input/FeetTrajectories_plano01.csv Margin_Stability_octave/tests/data/input/Anthropometry.yaml output

# for the walk ratio
./run_pi_walk_ratio Walk_Ratio_octave/tests/data/input/GaitParameters_noExo.yaml output

# for the ratio index
./run_pi_ratio_index Ratio_Index_octave/tests/data/input/GaitParameters_noExo.yaml output

# for the variability
 ./run_pi_variability Variability_octave/tests/data/input/GaitParameters_exo.yaml Variability_octave/tests/data/input/GaitParameters_noExo.yaml output

Docker usage

Under Linux, one can generate the Docker image using:

docker build . -t pi_csic_irregular

Assuming folder output is already created (to contain output files):

# For the Margin of stability:
docker run --rm -v $PWD/Margin_Stability_octave/tests/data/input:/in -v $PWD/output:/out pi_csic_irregular ./run_pi_margin_stability /in/COM_plano01.csv /in/gaitEvents_plano01.csv /in/FeetTrajectories_plano01.csv /in/Anthropometry.yaml /out


# for the walk ratio
docker run --rm -v $PWD/Walk_Ratio_octave/tests/data/input:/in -v $PWD/output:/out pi_csic_irregular ./run_pi_walk_ratio /in/GaitParameters_noExo.yaml /out

# for the ratio index
docker run --rm -v $PWD/Ratio_Index_octave/tests/data/input:/in -v $PWD/output:/out pi_csic_irregular ./run_pi_ratio_index /in/GaitParameters_noExo.yaml /out

# for the variability
 docker run --rm -v $PWD/Variability_octave/tests/data/input:/in -v $PWD/output:/out pi_csic_irregular ./run_pi_variability /in/GaitParameters_exo.yaml /in/GaitParameters_noExo.yaml /out

Acknowledgements

Supported by Eurobench - the European robotic platform for bipedal locomotion benchmarking. More information: Eurobench website

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 779963.

The opinions and arguments expressed reflect only the author‘s view and reflect in no way the European Commission‘s opinions. The European Commission is not responsible for any use that may be made of the information it contains.