System design and field-testing of the walk training system

The ability to walk enhances overall ability of daily life (ADL) of the elderly. Technically aiding the ability to walk is a basic solution for elderly society. A walk training system for the elderly is now under development. It has two parts: a training environment and a patient support element. The training environment comprises a treadmill and a display. The user stands on the treadmill and begins to walk. The endless belts of the treadmill are driven by active impedance control. The user is supported by a two degree-of-freedom manipulator. The force on the support is determined by the displacement of the user from the reference point, so as to maintain the attitude of the user or to support the user's weight. The walk training system was tested on 30 persons. Its basic function was rated highly.