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Stroke is the most common cause of disability in the developed world and can severely degrade walking function. Robot-driven gait therapy can provide assistance to patients during training and offers a number of advantages over other forms of therapy. These potential benefits do not, however, seem to have been fully realised as of yet in clinical practice.(More)
While robotic guidance can improve ongoing performance of a motor task, several studies have found that it ultimately impairs motor learning. However, some recent studies found that the haptic demonstration of optimal timing, rather than movement magnitude, apparently transfers to participants trained with robotic guidance. Here, we describe the synthesis,(More)
Human reaction to external stimuli can be investigated in a comprehensive way by using a versatile virtual-reality setup involving multiple display technologies. It is apparent that versatility remains a main challenge when human reactions are examined through the use of haptic interfaces as the interfaces must be able to cope with the entire range of(More)
A robot-driven gait orthosis which allows balance training during gait would further enhance the capabilities of robotic treadmill training in gait rehabilitation. In this paper, additional mass is attached to walking able-bodied subjects to simulate the effects of additional inertia and body weight support on the lateral balance task. The combination of(More)
In the past couple of years, the concept of exosuits has emerged. These soft, robotic devices are primarily made of textiles and can be worn like clothes. They assist the user during specific motions by transmitting forces around the human joints making use of the bone structure. By definition, these systems lack rigid structures as they are used in(More)
Designing the underlying mechanical structure of lower limb exoskeletons for assistance and rehabilitation is a demanding task that requires a good understanding of the interaction that takes place between the exoskeleton and the human user wearing it. Often the effects of a given mechanical design on the user are not straightforward or intuitive. One(More)
Body weight support systems are frequently used as part of robotic gait training to provide unloading in order to help subjects perform walking, but can also induce stabilizing forces and render the task of maintaining balance less challenging. In this paper, a two-dimensional body weight support system extension is presented which reduces lateral forces(More)
Body weight supported treadmill training is an approach to gait rehabilitation following a stroke or spinal cord injury. Although lateral control of balance is an important aspect of walking, many of the currently available body weight support systems have a fixed pulley configuration which can lead to lateral forces being developed in the supporting(More)
An understanding concerning the roles of the various degrees of freedom of the human body during functions such as walking is crucial to the design of robotic devices for rehabilitation. However, the function of the three rotational degrees of freedom of the pelvis during walking remains uncertain. Theories have been previously presented postulating a role(More)
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