Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of the Robotic Gait Trainer for Persons with Gait Disorder

보행 장애인을 위한 로봇형 보행훈련 시스템의 개발

  • Hwang, Sung-Jae (Department of Biomedical Engineering, Institute of Medical Engineering, Yonsei University) ;
  • Son, Jong-Sang (Department of Biomedical Engineering, Institute of Medical Engineering, Yonsei University) ;
  • Kim, Jung-Yoon (Department of Biomedical Engineering, Institute of Medical Engineering, Yonsei University) ;
  • Sohn, Ryang-Hee (Department of Biomedical Engineering, Institute of Medical Engineering, Yonsei University) ;
  • Kim, Young-Ho (Department of Biomedical Engineering, Institute of Medical Engineering, Yonsei University)
  • 황성재 (연세대학교 의공학과, 연세의료공학연구원) ;
  • 손종상 (연세대학교 의공학과, 연세의료공학연구원) ;
  • 김정윤 (연세대학교 의공학과, 연세의료공학연구원) ;
  • 손량희 (연세대학교 의공학과, 연세의료공학연구원) ;
  • 김영호 (연세대학교 의공학과, 연세의료공학연구원)
  • Published : 2008.04.25
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Abstract

In this study, we developed a robotic gait trainer which induces the active gait training based on predefined continuous proper lower extremity joint movements. AC servo motors and linear actuators were used to control hip and knee joints of patients and the weight support system was used to support the patient's weight during the gait training. We also implemented a Gill program to set the gait training pattern with several training parameters and to confirm states of patients and the system through the visual feedback. The effectiveness of the gait training system will be determined by the long-term clinical experiments in the future. We expect that the developed robotic gait training system could be applied very practically to recover gait abilities for persons with gait disorder.

Keywords