Adaptive dynamic balance training during overground walking with assistive device

In this paper we describe a motorized device and corresponding adaptive control strategy for dynamic balance training during overground walking. The device provides adjustable level of supporting forces at the pelvis whereas adaptive control strategy periodically adjusts the training difficulty by adjusting gait velocity with respect to selected performance criterion. Results suggest that the proposed training paradigm may successfully ascertain training conditions that correspond well to patient capabilities and therefore may potentially be useful in improving dynamic balance during overground walking in gait rehabilitation of neurological individuals.