Gait pattern analysis using an end-effector type rehabilitation robot and a wearable inertial measurement unit

Use of end-effector type robots might be more effective to gait rehabilitation than use of exoskeleton type robots, but there has been little work-in-progress to investigate gait pattern when using end-effector type robots. In this study, wearable inertial measurement units (IMU) signals of body segment during walking with the end-effector type robot were compared with during the walking on the treadmill. Different characteristics during the walking with the two configurations were observed; small range of angular velocity and no impact acceleration on the heel-strike during walking with the robot were shown. Since the foot of the subject was fixed on the footplate (i.e., end-effector) of the robot and footplate trajectory of the robot indirectly generates joint motions of lower limbs, the trajectory should be carefully designed. Therefore, the results are applicable to identify the desirable and effective trajectory of an end-effector type gait rehabilitation robot.