Gait Rehabilitation therapy using robot generated force fields applied at the pelvis

Abstract

The Robotic Gait Rehabilitation (RGR) Trainer was designed and built to target secondary gait deviations in patients post - stroke. While patients ambulate on a treadmill, force fields are applied to the pelvis, which generate corrective forces as a response to deviations from normal pelvic motion. The device is coupled to the patient via an orthopedic brace, and a linear electromagnetic actuator provides power. Healthy human subject testing confirmed efficacy of the method to impart significant gait restoration forces as a response to abnormal pelvic obliquity (hip hiking). This novel approach to application of force fields using endpoint impedance controlled linear actuators takes into account patients' soft tissue dynamics.