The powered gait training system using feedback from own walking information

The powered gait training system is a rehabilitation assistive device for paraplegia, hemiplegia, post-stroke or spinal cord injury patients. The goal of this research is to develop a 2DOFs orthosis system to use for hemiplegic patients. Two DC servo motors are used to activate hip and knee joints of affected side. The system employs gait information from unaffected leg to control the affected one of the wearer. This control signal for affected leg is programmed in two cases: fixed and changeable delay time between two lower extremities. The experiments without load, with hanging load and with the system used on able-bodied wearer, showed the good results about hip and knee´s gait trajectories in the sagittal plane.