Using FS in tuning a biped locomotion surrogate robot for walking training

This paper discusses the technical feasibility and ethical considerations of tuning walking training for a biped locomotion surrogate robot assisted by a device for reducing the weight load and/or a treadmill, instead of a person with a gait disorder in educational places. It is important for achieving a human-like gait that compliance of control as each joint of the robot, according to the walking phase, be tuned to proper hardness. We also propose counter-arguments related to the ethical problems in such training using a surrogate robot.