Design and Validation of a Robotic Frame for Gait Rehabilitation

Walking is affected by several neurological abnormalities. Current gait rehabilitation devices, despite potentially showing improvements, have not conclusively proven their functional superiority to conventional therapy. This paper presents the design and initial validation steps of a robotic frame aimed for ambulatory robotic training whose main objective will be to provide a therapy that allows greater freedom to explore new walking patterns, thereby enhancing active participation. The robotic frame shows proper tracking and alignment maintenance depending on the displacement of the exoskeleton and minor gait variations for a healthy subject wearing the Exo-H3 corset and attached to the robotic frame while walking at two different speeds.