A subject-based motion generation model with adjustable walking pattern for a gait robotic trainer: NaTUre-gaits

A gait trainer, NaTUre-gaits (natural and tunable rehabilitation gait system), has been developed to provide assistance for the gait rehabilitation. The gait rehabilitation system can provide mobility for an overground locomotion in forward walking and turning by a mobile platform. The exoskeleton modules are mounted on the mobile platform and attached to the lower limbs and pelvis in parallel. The synchronized motion generation for the exoskeleton modules is provided by virtue of the inverse kinematic model analysis. The pelvic trajectory is predefined and ten points are specified within one gait cycle to obtain the foot trajectory from the designated step length and height. The trajectory is obtained via curve fitting based on these specified points. On the other hand, in order to keep the desired foot trajectory, the pelvic motion is compensated to accommodate hip and knee joint angles. The proposed generation method is tested on the gait system and it has demonstrated the effectiveness and smoothness of the system.