LOKOIRAN- A novel robot for rehabilitation of spinal cord injury and stroke patients

摘要

This paper will focus on the design and development of a new gait training robotic device (LOKOIRAN) for patients with balance and locomotion disorders. The process of rehabilitation in this system is based on partial weight bearing system and programmable foot-plate training. The system consisted of several subsystems following: Driving and transmission system, back supporting system, leg exoskeleton, body weight support system and control system. A virtual reality environment was also designed and integrated to the system in order to motivate patients during rehabilitation protocol. The experimental tests on healthy subjects were performed to evaluate the performances of mechanical and electrical subsystems of LOKOIRAN robotic system. The newly developed device has several advantages in comparison with similar commercial systems. Firstly, the physical improvements of patients are expected to increase due to synchronized and functional movements of upper and lower limbs. Secondly, special leg exoskeleton and back supporting system were designed to increase the stability and balance of subjects. Although the aforementioned robotic gait device is well suitable for patients with SCI and stroke, it could be used for MS patients, sport injury cases, aging and people with stability and balance disorders.