Robotic gait rehabilitation by optimal motion of the hip

US7125388B1 · kind B1 · utility

Assignee

• The Regents of the University of California · US

Inventors

• David Reinkensmeyer · Irvine, US
• Susan J. Harkema · Louisville, US
• V. Reggie Edgerton · Los Angeles, US
• James Bobrow · Tecate Mission Road, US
• Chia Yu Wang · Hengshan, TW

Key dates

• Filing date: May 20, 2003
• Grant date: Oct 24, 2006
• Expiry date: May 20, 2023

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A63B22/0235
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method and a robotic device for locomotion training. The method involves shifting a subject's pelvis without directly contacting the subject's leg, thereby causing the subject's legs to move along a moveable surface. The device comprises two backdriveable robots, each having three pneumatic cylinders that connect to each other at their rod ends for attachment to the subject's torso. Also provided is a method of determining a locomotion training strategy for a pelvic-shifting robot by incorporating dynamic motion optimization.