Control Methods of Walk Training System

Ambulatory capability results in overall improvement of ADL (Ability of Daily Life). Technically aiding the walking ability of the elderly is the basic solution for an elderly society. A walk training system for the elderly is now under development, It consists of two parts: training environment and patient support apparatus. The training environment consists of two elements: treadmill(walk plain) and display. The patient stands on endless belts (one belt each foot) of the walk plain, and commences to walk. Endless belts are driven by the method of active impedance control. The patient support element is a 2 degree-of-freedom manipulator. The force of the manipulator is defined by the displacement of the patient from the datum point, in order to keep posture of the patient or to support the patient's weight. The walk training system was tested on 30 subjects (max. age is 94). Its basic function was found to be successful in improving the ADL of the subjects.