Abstract
Background One of the most popular robot assisted rehabilitation devices used is the Lokomat.
Unfortunately, not much is known about the behaviors exhibited by subjects in this
device. The goal of this study was to evaluate the kinematic patterns of individuals
walking inside the Lokomat compared to those demonstrated on a treadmill.
Methods Six healthy subjects walked on a treadmill and inside the Lokomat while the motions
of the subject and Lokomat were tracked. Joint angles and linear motion were determined
for Lokomat and treadmill walking. We also evaluated the variability of the patterns,
and the repeatability of measuring techniques.
Findings The overall kinematics in the Lokomat are similar to those on a treadmill, however
there was significantly more hip and ankle extension, and greater hip and ankle range
of motion in the Lokomat (P < 0.05). Additionally, the linear movement of joints was reduced in the Lokomat. Subjects
tested on repeated sessions presented consistent kinematics, demonstrating the ability
to consistently setup and test subjects.
Interpretation The reduced degrees of freedom in the Lokomat are believed to be the reason for the
specific kinematic differences. We found that despite being firmly attached to the
device there was still subject movement relative to the Lokomat. This led to variability
in the patterns, where subjects altered their gait pattern from step to step. These
results are clinically important as a variable step pattern has been shown to be a
more effective gait training strategy than one which forces the same kinematic pattern
in successive steps.
Keywords
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Article info
Publication history
Published online: October 13, 2008
Accepted:
August 20,
2008
Received:
March 31,
2008
Identification
Copyright
© 2008 Elsevier Ltd. Published by Elsevier Inc. All rights reserved.
