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

Kartik Bharadwaj, Thomas Sugar, James B. Koeneman, Edward J. Koeneman

Research output: Contribution to journalArticlepeer-review

87 Scopus citations


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 ion/plantarflexion and inversion/eversion. A unique feature in the tripod design is that the human anatomy is part of the robot, the first fixed link being the patient's leg. The kinematics and workspace of the tripod device have been analyzed determining its range of motion. Experimental gait data from an able-bodied person wearing the working RGT prototype are presented.

Original languageEnglish (US)
Pages (from-to)1009-1013
Number of pages5
JournalJournal of Biomechanical Engineering
Issue number6
StatePublished - Nov 2005

ASJC Scopus subject areas

  • Biomedical Engineering
  • Physiology (medical)


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