Patient-tracking for an over-ground gait training system

ZeroG is a new over-ground body-weight support system that allows individuals with gait disorders to practice walking over smooth or uneven surfaces, over obstacles, and up and down stairs in a safe, controlled manner. The system consists of a body-weight support system mounted onto a trolley that rides along a horizontal guide rail. The patient wears a harness that connects to the body-weight support system via a rope. This paper focuses on enhancing the patient tracking capabilities of ZeroG. The aim is to develop a controller that accurately tracks the patient and follows their translational movement as they walk in order to minimize the horizontal forces they may experience.