A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation

This paper describes a robotic device for measuring and manipulating pelvic motion during step training on a treadmill. "PAM" (Pelvic Assist Manipulator) uses two, three-degree-of-freedom, pneumatic robots to measure and control the pelvis of a person during body weight supported stepping on a treadmill. The device can be used in a passive mode to record pelvic trajectories, either specified manually by a therapist or pre-recorded from unimpaired subjects, then replay these trajectories using a nonlinear force control algorithm. Data are presented that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.