Comprehensive Dynamic Study of an Unloaded Walking Within a Cable-Based Gait Trainer

In this paper, we investigate an inverse dynamic study of an upright unloaded walking. This motion is produced through a gait training machine that emulates the overground walking through: a body weight support device and a cable driven legs trainer. The input motion is the kinematics of a normal gait and the output information is the required actuation wrench to drive the lower limb during gait simulation. The dynamic study is carried out using two methods: Newton-Euler approach and Matlab SimMechanics model. The effect of gait simulation parameters on the behaviour of the actuation wrench is discussed. These results are very useful in estimating optimal gait training parameters and also to design the gait trainer.

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