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Vol. 150, No. 3, March 2013, pp. 90-96




Design of A Novel Gait Simulator for Rehabilitation Training

1, 2 Yongjiu LIU, 1* Quanjun SONG, 1, 2 Buyun WANG, 1, 2 Yanyang LIU, 1 Yuman NIE, 1 Hui WANG and 1 Feng SHUANG

1 Robot Sensors and Human-Machine Interaction Laboratory, Institute of Intelligent Machines,

Chinese Academy of Sciences, Hefei 230027, Anhui, China

2 Department of Automation, University of Science and Technology of China, Hefei 230031, Anhui, China

* E-mail: qjsong@iim.ac.cn


Received: 5 November 2012   /Accepted: 19 March 2013   /Published: 29 March 2013

Digital Sensors and Sensor Sysstems


Abstract: Aiming at helping patients bring back some of their lost physical capabilities due to injury or illness, this paper presents a novel gait simulator for their rehabilitation training. It can simulate the normal gait trajectory approximately and guide the patientís feet to follow the preset trajectory repetitively. The gait simulator was developed based on an end-effector structure equipped with electrical servo motor driver. In addition, corresponding control strategies, including passive training mode and speed adaptation training mode, were conducted for the control of the gait simulator. Furthermore, a number of experiments were carried out for healthy subjects and patients to test its stability and flexibility. Experimental results demonstrate that this developed gait simulator has reached designed object and has shown promising prospects as a tool of gait rehabilitation training for people with low limb impairments.


Keywords: Rehabilitation robot, Gait trajectory, Gait simulator, Control strategy


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