2014 Volume 22 Pages 237-248
Gait training is usually done by physical therapist who evaluate the abnormalities in the patient’s gait and employ such treatments as controlling patient pelvis to improve repeatability and symmetry of gait pattern. Related works that automate gait training impose constraints on hemiplegic patient’s naturalistic gait because they cannot correspond to the individual features of hemiplegic patient. To solve this problem, physical therapy’s pelvic assistance based control gait training robot was developed that can corresponds to the individual features of hemiplegic patient in our laboratory. As the first step of development of this robot, this paper describes a mechanical model that represents manual patient’s pelvic assistance provided by physical therapist. We showed experimental results of gait training measurement that was done by physical therapist for patient with hemiplegia, and revealed characteristics of manual assisted technique.
