A novel body weight support system extension: Initial concept and simulation study

Andrew Pennycott, Heike Vallery, Dario Wyss, Markus Spindler, Antoine Dewarrat, Robert Riener

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

5 Citations (SciVal)


Body weight supported treadmill training is an approach to gait rehabilitation following a stroke or spinal cord injury. Although lateral control of balance is an important aspect of walking, many of the currently available body weight support systems have a fixed pulley configuration which can lead to lateral forces being developed in the supporting cables, interfering with the lateral balance task. In this paper, a novel extension for body weight support systems, used for treadmill walking, is presented which features a system of pulleys and trolleys. A model is developed for the device along with a basic feedback controller in order to enable simulation of the concept. The lateral forces induced by the novel system are greatly reduced in comparison to a fixed pulley system. This device has applications in balance training within gait rehabilitation programs.
Original languageEnglish
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)
Number of pages4
Publication statusPublished - 2013


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