Gait synchronized force modulation during the stance period of one limb achieved by an active partial body weight support system

Development of a body weight support system using pneumatic muscle actuators: Controlling and validation

“…The benefit of gait training using a BWS system is not only simply supporting the subject's body weight during walking but also the improvement of other gait parameters such as ground reaction force, hip, knee, and ankle angle parameters, and the symmetry of gait locus. [5][6][7][8] Recently, the BWS system has been combined with leg robotic orthoses such as Locomat, task activity, which allow patients to initiate gait training activities early after injury. 3 The gait training process for incompletely healed patients normally undergoes many periods, depending on the condition of the patient.…”

“…They ensure constant weight support by combining a closed-loop control system with a dynamic roller 13,17 or electromagnetic motor. 5 However, almost all active systems, which apply the inherent structure in which a very complex and cumbrous actuators are connected to the subject's trunk through a pulley-rope mechanism, have the disadvantage of potentially swinging the subject using these systems. In contrast, the pneumatic muscle actuator (PMA) has many advantages which could be applied to the BWS system such as simple structure, low cost, high power-to-weight ratio, and especially the capacity to generate force actively.…”

“…18 Even though the PMA has some inherent limitations such as nonlinear and hysteresis behavior, it still is very attractive to the researcher to put more attention to apply PMA in therapy medical devices and rehabilitation. 19 In addition, Franz et al 5 suggested that the unloading force, which varies with gait pattern, is more efficient than a constantly supported force. Using the PMA directly connects to the subject's trunk during gait training, we can adjust the unloading force actively.…”

Effects of Standing on One Leg Exercise on Gait and Balance of Hemiplegia Patients

“…In the gait cycle, lack of coordination in muscle activities between the hip and the knee during weight loading on the lower extremity in the stance phase results in reduced vertical ground reaction force in hemiplegia patients with lower extremity dysfunction on the affected side. Due to delayed muscle activity of the lower extremity to which application of weight loading failed during terminal stance peak, the anterior transition force weakens and gait patterns of both lower extremities are affected, leading to asymmetric gait 21) . In gait, kinesiological asymmetry of the left and right lower extremity joints in the sagittal plane increases knee flexion of the paretic side during the stance phase, resulting in excessive hip flexion during the swing phase.…”

A novel Treadmill Body Weight Support system using Pneumatic Artificial Muscle actuators: a comparison between active Body Weight Support system and counter weight system

“…In comparison with the conventional therapies and gait training using Treadmill BWS, the clinical results showed that therapy with Treadmill BWS system was more advantaged than the old methods because of walking with weight support allowed patient walking with the desired gait [4]. Many researchers investigated a lot of aspects and parameters influence to training such as age [5], ground reaction force and symmetry of gait locus or influence of degree of weight support to hip, knee and ankle parameters [6,7] and almost authors agreed that Treadmill BWS system has much advantages in not only for spinal cord injury patient but also stroke, Parkinson and gait recover for elderly patients. Recent years, Treadmill BWS system in conjugation with orthosis robots were applied for many gait training system to reduce the therapy cost and labor, for example, WAD system or Locomat.…”