Development of gait rehabilitation system capable of assisting pelvic movement of normal walking

Chanyul Jung, Suhun Jung, Min Ho Chun, Jong Min Lee, Shinsuk Park, Seung Jong Kim

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.

Original languageEnglish
Pages (from-to)407-417
Number of pages11
JournalActa Medica Okayama
Issue number4
Publication statusPublished - 2018

Bibliographical note

Publisher Copyright:
©2018 by Okayama University Medical School.


  • Balance control
  • Exoskeleton
  • Gait rehabilitation
  • Gravity compensation
  • Pelvic movement

ASJC Scopus subject areas

  • General Biochemistry,Genetics and Molecular Biology


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