title: Design and evaluation of a prototype gait orthosis for early rehabilitation of walking.
abstract: BACKGROUND
  Rehabilitation of walking should start early after injury to maximise the beneficial effects of gait restoration. Most current gait robotic systems are not suitable for patients who cannot maintain an upright position.
  
  
  OBJECTIVE
  This study aimed to develop a prototype to test a supine-stepping system for early rehabilitation of walking.
  
  
  METHODS
  Based on the pendulum model of walking, a supine-stepping system was designed through control of the toe and the ankle trajectories. This study implemented the pendulum concept of walking in a functional prototype including a bar-cam mechanism and a foot platform that makes it possible to perform stepping while lying in a supine position. The kinematics of supine stepping produced by the bar-cam prototype were firstly simulated by a corresponding bar-cam model in Matlab/Simmechanics, then investigated through a preliminary test using an empty leg frame, and lastly by tests on three able-bodied subjects. The experimental results from the bar-cam prototype were compared with the computer simulation results. Furthermore, supine stepping of one subject was compared with his performance during overground walking.
  
  
  RESULTS
  The lower extremity kinematics produced while performing stepping using the prototype matched the corresponding simulation results as well as the performance during overground walking.
  
  
  CONCLUSIONS
  This study demonstrated the technical feasibility of implementing the pendulum concept in a gait orthosis for early rehabilitation of walking.
authors.affiliation: Institute for Rehabilitation and Performance Technology, Division of Mechanical Engineering, Department of Engineering and Information Technology, Bern University of Applied Sciences, Burgdorf, Switzerland Centre for Rehabilitation Engineering, School of Engineering, University of Glasgow, Glasgow, UK.
authors.forename: Juan
authors.initials: J
authors.lastname: Fang
authors.affiliation: Centre for Rehabilitation Engineering, School of Engineering, University of Glasgow, Glasgow, UK.
authors.forename: Aleksandra
authors.initials: A
authors.lastname: Vuckovic
authors.affiliation: Biomedical Engineering, University of Strathclyde, Glasgow, UK Physical Therapy Program, Wayne State University, Michigan, MI, USA.
authors.forename: Sujay
authors.initials: S
authors.lastname: Galen
authors.affiliation: School of Engineering, University of Glasgow, Glasgow, UK.
authors.forename: Calum
authors.initials: C
authors.lastname: Cossar
authors.affiliation: Biomedical Engineering, University of Strathclyde, Glasgow, UK.
authors.forename: Bernard A
authors.initials: BA
authors.lastname: Conway
authors.affiliation: Institute for Rehabilitation and Performance Technology, Division of Mechanical Engineering, Department of Engineering and Information Technology, Bern University of Applied Sciences, Burgdorf, Switzerland.
authors.forename: Kenneth J
authors.initials: KJ
authors.lastname: Hunt
mesh_terms: D001696:Biomechanical Phenomena; D017076:Computer-Aided Design; D004867:Equipment Design; D005684:Gait / Q000502:physiology; D006801:Humans; D035002:Lower Extremity / Q000502:physiology; D009989:Orthotic Devices; D026741:Physical Therapy Modalities / Q000295:instrumentation*; D012371:Robotics / Q000379:methods*; D016683:Supine Position; D013997:Time Factors; D016138:Walking / Q000502:physiology*
keywords: Gait robotics; early rehabilitation of walking; supine stepping