Development of a body weight supported lower gait robotic training system

Humans may lose their movement capability as they get older or as a result of a stroke, an injury or an infection. In order to regain their movement capability, a physiotherapist helps the patients do physical exercises which consist of moving repeatedly a limb in a predefined manner. Since it is a repetitive task, robotic systems gain more importance for these types of therapy methods. These robotic systems offer more accurate control of the patients' limb movement as well as keeping a vast amount of sensory data for the improvement of the therapy methods. Hence, lower gait active orthosis system which can be used for treadmill based rehabilitation will be proposed in this thesis.