Mobile robotic gait rehabilitation system CORBYS - overview and first results on orthosis actuation

In this paper the novel mobile robotic gait rehabilitation system CORBYS is presented. The system consists of a mobile platform and a powered orthosis attached to the platform. Beside the mobility, i.e. overground walking, due to introduced degrees of freedom (DOFs) CORBYS gait rehabilitation system, in contrast to existing gait rehabilitation robotic systems will enable more physiological movements including turning. The focus in the paper is on novel push-pull control (PPC) cables based actuation system of the orthosis. The first results on orthosis actuation obtained in the control experiments with the powered orthosis test-stand are shown. The results prove the advantages of using the push-pull cables for the dislocation of the actuators from the powered orthosis and for providing a flexible power actuation with a bi-directional (pushing and pulling) force transfer.