In this paper, we present an adaptive walker system designed to address limitations in current intelligent walker technologies. While recent advancements have been made in this field, existing systems often struggle to seamlessly interpret user intent for speed control and lack adaptability across diverse scenarios and terrain. Our proposed solution incorporates high-resolution tactile sensors, deep learning algorithms, IMU sensors, and linear motors to dynamically adjust to the user's intentions and terrain changes. The system is capable of predicting the user's desired speed with an error margin of only 20.99%, relying solely on tactile input from hand and arm contact points. Additionally, it maintains the walker's horizontal stability with an error of less than 1 degree by adjusting leg lengths in response to variations in ground angle. This adaptive walker enhances user safety and comfort, particularly for individuals with reduced strength or cognitive abilities, and offers reliable assistance on uneven terrain such as uphill and downhill paths.

An overground track-walking scheme with a body-weight support system can provide task-oriented and repetitive training. Furthermore, it improves gait stability and endurance more effectively than the conventional treadmill walking method. However, it does not improve asymmetry and reduces gait speed. Accordingly, we developed a 4-DOF mobile manipulator in which the position of the handle is controlled to provide continuous somatosensory information (cutaneous & proprioception information), such as a fixed rail to the user’s hand during overground walking for gait enhancement (velocity, symmetry, and balance). The system consists of 3 omni wheel-based mobile robot for robust track following and a 1-DOF revolute joint-based manipulator for gait enhancement during track-based gait guidance. To demonstrate the feasibility of the system, we conducted a pilot experiment with one stroke patient on a 15 m track. The experimental results showed that the robot could guide the patient along the track and enhance symmetry and balance, especially in the curved section of the track. Furthermore, the preferred walking speed of the participant on the track improved. Therefore, the system demonstrated promising potential for providing quantitative, repetitive, and safe track-based overground gait rehabilitation training.

Cable driven redundant manipulator (CDRM) can provide complex movements with high dexterity and singularity reduction. However, traditional CDRMs with universal joints have the disadvantages of requiring a high number of motors and having a narrow joint workspace. Furthermore, there is a limitation in terms of stiffness and payload. Recently, CDRMs composed of Quaternion joints have been developed to address these disadvantages. They require fewer motors and have larger joint workspace due to the Quaternion joints. Yet, their cable routing method is the same as the traditional CDRMs. In this paper, we propose a novel nematode-inspired cable routing method to achieve complex movements and stiffness increase. To achieve the stiffness increase of CDRM, the proposed cable routing method was inspired by the alternately arranged muscle structure of nematodes. Moreover, moving pulley structure was selected to amplify the stiffness and force of CDRM. An 8-DOF CDRM prototype composed of four Quaternion joints was developed to show the effectiveness of the cable routing method. Kinematics simulation was conducted and then, verified by trajectory through experiments. Finally, a joint stiffness simulation was conducted and verified with the developed prototype by stiffness experiments.

Post-stroke gait rehabilitation is necessary to aid social re-integration. An active knee orthosis (AKO) can aid gait training through the provision of bodyweight support and assistive knee torque. However, its use may cause instability and it does not ensure improved gait symmetry and speed. Use of a speed regulation device such as a robotic cane in conjunction with and AKO may overcome these limitations. Therefore, to combine the beneficial effects of an AKO and speed regulation, we have devised a gait assistance system (GAS) that combines our developed AKO with our Haptic cane (HC) to provide combined knee assistance and speed regulation. The system can provide constant speed regulation and proprioceptive input to improve gait speed, symmetry and balance, while providing assistive torque to improve knee range of motion. The system is evaluated through tests with nine healthy subjects who wore ankle weights on one leg to simulate hemiparesis. The results show that for majority of the outcome measures (gait and balance parameters), use of the GAS and HC generated significantly better results than use of only the AKO. However, for nearly all the measures there were no significant differences between GAS and HC. Thus, the results indicate that the HC and GAS may be used according to patient's condition, where more severe patients who require assistive torque may use the GAS and less severe patients may use only the HC.

In this paper, a novel, low-cost lower extremity gait rehabilitation device using a single actuator is presented. The proposed device is based on a single DOF 8-bar Jansen mechanism, which was recently introduced as an efficient walking mechanism for legged robots. The mechanism is synthesized to generate the ankle trajectory during human gait relative to the hip, in terms of both position and time. Two mechanisms, one for each lower limb, are applied reciprocally and mechanically synchronized to guarantee symmetric gait. A custom designed seat-type weight support system is also introduced. It supports weight of the user and mechanisms, and also provides the required interaction while maintaining mobility at the hip. To accommodate different users, several parameters of the mechanism are adjustable. Ease of donning-doffing action, weight-bearing and possibility of unhindered arm swing have been considered to provide an effective and user-friendly training environment. A prototype is manufactured, and a pilot study with a healthy subject is conducted to demonstrate feasibility of the concept. Due to ease of control, cost-effectiveness and high intrinsic safety, the proposed system potentially offers a possible method of gait training.

To achieve immersive and natural navigation in a virtual environment through human locomotion, it is necessary to generate a 2-dimensional infinite ground for omnidirectional walking. However, the existing omnidirectional treadmills are heavy, complex and exhibit low acceleration due to power transmission inefficiency. In this paper, we present a novel fast-omnidirectional treadmill (F-ODT) with a new power transmission mechanism called the Geared Omni-pulley. This mechanism ensures higher power transmission efficiency for driving the belts of the multiple transversal treadmills for independent Y-axis motion. Due to the improved power transmission performance combined with a simpler and relatively light-weight structure, the proposed 2D treadmill can generate a maximum speed of 3m/sec with an acceleration of 3m/sec2. Based on the improved performance, the F-ODT system can be used as a locomotion interface platform in various virtual reality environments such as training of soldiers, gaming/educational experiences and gait rehabilitation.