We have developed the rehabilitation system (BRMS, Bio-Responsive Motion System) for recovery of motion ability of the lower extremities of stroke patients. This project is supported by NEDO (New Energy and Industrial technology Development Organization) from 1999 to 2003. The BRMS constitutes a total exercise machine for patients with stroke. One of the target technologies is the 'gait simulator', which allows the patients to regain gait function by the exercise of both extremities with assistance for their voluntary muscle power and coordination skill. The BRMS's concept is that spastic patients move along walking pattern based on gait analysis, and the system evaluates the gait pattern, applying assisting motion and biofeedback. As preliminary experimental results on BRMS, joint angles, joint torques, floor reaction forces, and surface integrated electromyogram on the BRMS in one normal subject, are compared to the data in the gait pattern with standing position in normal subject.

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