Development of rehabilitation robot systems for walking-aid

This paper presents a mobile gait training system with body weight support (BWS), which relieves the patient of body weight of a prescribed amount by supporting the subject with a harness. The system is based on electrical motors to achieve system mobility according to the subject´s motion of walking while it maintains a constant force on the body based on pneumatic actuators. The mobility of the system seems to be important for a correct gait pattern since the subject is able to walk on the ground actually. The system has´ a simple architecture to construct, and is practical to the gait rehabilitation.