Abstract
The number of elderly people with gait disorders is increasing owing to population aging. Early rehabilitation is important for preventing such people from becoming bedridden and for facilitating the recovery of walking capability. BWSTT（BodyWeight-Supported Treadmill Training）is a valid early gait-training method. Noting the effectiveness of BWSTT, we have developed a novel gait-training platform called NILTWAMOR（ Novel Intelligent Lift-Type Walking-Assist Mobile Robot ）. NILTWAMOR has an omnidirectional driving system using omniwheels and a bodyweight-supported system using two wires that can each independently hoist a harness. This paper proposes two systems to assist effective gait training. Firstly, an omnidirectional moving control system following human intention is proposed. This system estimates the users walking direction by identifying the users body center and controls the platform in order to track the user omnidirectionally. Secondly, a system that maintains a constant floor reaction force is proposed. This system estimates deviation of the user's body center based on the user's posture and maintains constant floor reaction force of the gait trainer's supporting legs and the body center. In order to evaluate the effectiveness of the proposed gait-training platform, both systems were applied to healthy subject and patient undergoing gait rehabilitation.
