The fuzzy expert system for hip motion enhancement in gait trainer robot

In this paper, an efficient gait training robot with a fuzzy expert system is presented. Subject´s leg joints are tracked in each gait cycle with a few markers using a 3D camera. The inputs to the fuzzy system include the 3D kinematics of initial trajectory and the hip joint spasm. The output of the fuzzy system is the trajectory of movements in two degrees of freedom for hip joint in sagittal and frontal planes. The commands used to design the expert system are obtained from professional therapists. They are customized for patients with different ranges of motion and joint spasms for hip movement in a gait cycle. They present enhanced and safe trajectory of the hip for patient´s gait with different initial spasm and range of motion of hip joint.