Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation.

@article{Bharadwaj2005DesignOA,
  title={Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation.},
  author={Kartik Bharadwaj and Thomas G. Sugar and James B Koeneman and Edward J Koeneman},
  journal={Journal of biomechanical engineering},
  year={2005},
  volume={127 6},
  pages={
          1009-13
        }
}
Repetitive task training is an effective form of rehabilitation for people suffering from debilitating injuries of stroke. We present the design and working concept of a robotic gait trainer (RGT), an ankle rehabilitation device for assisting stroke patients during gait. Structurally based on a tripod mechanism, the device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as actuation links which move the ankle in dorsiflex… CONTINUE READING
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