Journal of Rehabil itation Research & Development Human-centered robotics applied to gait training and assessment

Abstract—Robot-aided gait training can increase the duration and number of training sessions while reducing the number of therapists required for each patient. However, current auto-mated gait trainers do not adapt their movement to the patient’s muscular efforts and passive musculoskeletal properties. Fur-thermore, robot-aided training without therapists lacks the feedback required for patient assessment. In this article, we present results from the literature and our research to provide an overview of novel human-centered strategies for robot behaviors that are patient-cooperative and support motor-function assessment. Combining robot-aided training with robot-aided assessment will likely make future gait therapy easier, more comfortable, and more efficient. Broad clinical testing is still required for proving this assumption. Key words: biofeedback, gait, gait therapy, human-centered, motor-function assessment, patient-cooperative, rehabilitation, robot-aided training, spasticity, treadmill training