A gait trajectory measuring and planning method for lower limb robotic rehabilitation

In the past decade, gait rehabilitation robot has drawn comprehensive attention. Robots greatly reduce the workload of physical therapists and thus making rehabilitation sessions more effective and widely available. Various research efforts have been made in the field of robot-assisted rehabilitation. One of the key concerns of robotic assisted gait rehabilitation is gait planning and customization. In this paper, we first introduce a human gait measuring system based on binocular vision technique. Through the measuring system, gait data of healthy subjects under different walking speed are collected, which are used as the reference database for gait planning. On the basis of collected data, a method of gait planning and customization based on patients´ physical characteristics is proposed. Finally, to validate the applicability of the generated gait patterns, the customized gait trajectories are implemented on a prototype of lower limbs rehabilitation robot. Experiment on healthy subject shows positive results with the gait trajectories generated by the proposed method.