The robotic gait rehabilitation trainer

Abstract

Current methods of robotic neurorehabilitation of gait often do not address secondary gait deviations, focusing instead on only the primary gait deviations. Therefore, a robotic system was developed, which guides the pelvis in the frontal plane (pelvic obliquity), in order to address hip-hiking - the most common secondary gait deviation. A prototype of the device was built with a single actuator and impedance control system to generate force field and transfer it to the patient's pelvis via a lower body exoskeleton. The RGR Trainer's ability to alter gait pattern via force fields applied to pelvic obliquity was tested on several healthy subjects. It was found that the RGR Trainer can coax healthy subjects to walk with an altered gait pattern, and signs of retention of this newly learned gait pattern have been observed.