METHOD, APPARATUS AND SYSTEM FOR AUTOMATION OF BODY WEIGHT SUPPORT TRAINING (BWST) OF BIPED LOCOMOTION OVER A TREADMILL USING A PROGRAMMABLE STEPPER DEVICE (PSD) OPERATING LIKE ANEXOSKELETON DRIVE SYSTEM FROM A FIXED BASE

摘要

A robotic exoskeleton (101, 102, 103, 104) and a control system (115) for driving the robotic exoskeleton, including a method for making and using the robotic exoskeleton and its control system (115). The robotic exoskeleton ha s sensors (111, 112, 113, 114) embedded in it which provide feedback to the control system. Feedback is used from the motion of the legs themselves, as they deviate from a normal gait, to provide corrective pressure and guidance . The position versus time is sensed and compared to a normal gait profile. Various normal profiles are obtained based on studies of the population for age, weight, height and other variables.