We have been suggesting a gait monitoring system using a small sensor agent robot. This system estimates knee joint positions and heel positions in order to detect the decline of the residents' physical performances in an early stage in living spaces. However, its accuracy has not been evaluated, and its performance in a real living environment has not been tested. In this paper, (1) we examined the important gait parameters to be monitored, (2) evaluated our system using a 3D motion analysis, and (3) considered the usability of our system in a real living environment.
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