title: The WalkTrainer--a new generation of walking reeducation device combining orthoses and muscle stimulation.
abstract: This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject in the walking reeducation process by the mean of closed-loop muscle stimulation. The WalkTrainer is also equipped with a leg and pelvic orthosis, an active bodyweight support, and motorized wheels to allow true over ground deambulation. This paper will focus on the development of the WalkTrainer, the presentation of the control strategies, and also give some preliminary results of the first clinical trials.
authors.affiliation: Laboratoire de Systèmes Robotiques, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland.
authors.forename: Y
authors.initials: Y
authors.lastname: Stauffer
authors.forename: Y
authors.initials: Y
authors.lastname: Allemand
authors.forename: M
authors.initials: M
authors.lastname: Bouri
authors.forename: J
authors.initials: J
authors.lastname: Fournier
authors.forename: R
authors.initials: R
authors.lastname: Clavel
authors.forename: P
authors.initials: P
authors.lastname: Metrailler
authors.forename: R
authors.initials: R
authors.lastname: Brodard
authors.forename: F
authors.initials: F
authors.lastname: Reynard
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D004558:Electric Stimulation; D004867:Equipment Design; D006801:Humans; D007866:Leg / Q000502:physiology; D015233:Models, Statistical; D009038:Motion; D018482:Muscle, Skeletal / Q000294:innervation / Q000502:physiology*; D009989:Orthotic Devices; D010264:Paraplegia / Q000534:rehabilitation; D010388:Pelvis / Q000502:physiology; D012046:Rehabilitation / Q000295:instrumentation*; D016138:Walking / Q000502:physiology*