Development of a Parallel Robotic Body Weight support for Human Gait Rehabilitation

Stroke is the leading cause of impairment and residual mobility problems in the world, but most of the victims are able to recovery partially after rehabilitation treatments. This paper concerns the development of a 5 degrees-of-freedom parallel robotic structure designed to assist the human gait rehabilitation process, working as an active body weight support for treadmill or overground exercises sessions. The structure applies an assist-as-needed design to stimulate balance control, motor coordination and posture correction during the gait. The system is also integrated with an electronic game developed to enhance the experience of the patients while performing the training sessions. The structure mathematical model and the first control tests are done, while the actual running research is performing the first experimental tests and clinical trials.