Kinematic Synthesis of Gait Correction for a Rehabilitation Machine

This paper outlines the synthesis process for a redesign of the intelligently controlled assistive rehabilitation elliptical’s (ICARE) pedal system to enhance replication of gait-like movement patterns while training. The synthesized mechanism overcomes some limitations identified in certain ellipticals, specifically generation of taller, more rounded foot paths compared to over-ground gait. The proposed solution minimizes the position and angle difference curves between the ICARE foot motion and normal gait.