title: Development of body weight support gait training system using antagonistic bi-articular muscle model.
abstract: The purpose of this study is to develop a body weight support gait training system for stroke and spinal cord injury. This system consists of a powered orthosis, treadmill and equipment of body weight support. Attachment of the powered orthosis is able to fit subject who has difference of body size. This powered orthosis is driven by pneumatic McKibben actuator. Actuators are arranged as pair of antagonistic bi-articular muscle model and two pairs of antagonistic mono-articular muscle model like human musculoskeletal system. Part of the equipment of body weight support suspend subject by wire harness, and body weight of subject is supported continuously by counter weight. The powered orthosis is attached equipment of body weight support by parallel linkage, and movement of the powered orthosis is limited at sagittal plane. Weight of the powered orthosis is compensated by parallel linkage with gas-spring. In this study, we developed system that has orthosis powered by pneumatic McKibben actuators and equipment of body weight support. We report detail of our developed body weight support gait training system.
authors.affiliation: SIT. 307 Fukasaku, Minuma-ku, Saitama-City, 337-8570 Japan. shibata@bpe.se.schibaura-it.ac.jp
authors.forename: Yoshiyuki
authors.initials: Y
authors.lastname: Shibata
authors.forename: Shingo
authors.initials: S
authors.lastname: Imai
authors.forename: Tatsuya
authors.initials: T
authors.lastname: Nobutomo
authors.forename: Tasuku
authors.initials: T
authors.lastname: Miyoshi
authors.forename: Shin-Ichiroh
authors.initials: S
authors.lastname: Yamamoto
mesh_terms: D001835:Body Weight; D003198:Computer Simulation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005684:Gait; D020233:Gait Disorders, Neurologic / Q000503:physiopathology* / Q000534:rehabilitation*; D006801:Humans; D008954:Models, Biological; D009119:Muscle Contraction; D018482:Muscle, Skeletal / Q000503:physiopathology*; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*