Robot-Assisted Targeted Gait Training

Abstract

Background: Millions of people are affected yearly by “runner’s knee” and osteoarthritis, which is thought to be related to impact force. Millions are also affected by chronic falling, who are usually both difficult to identify and train. While at first glance, these topics seem to be entirely disconnected, there appears to be a need for a device that would address both issues. This paper proposes and investigates the use of the Variable Stiffness Treadmill (VST) as a targeted training device for the different populations described above. Materials and Methods: The VST is the authors’ unique robotic split-belt treadmill that can reduce the vertical ground stiffness of the left belt, while the right belt remains rigid. In this work, heart rate and energy expenditure are measured for healthy subjects in the challenging asymmetric environment created by the VST and compared to a traditional treadmill setting. Results: This study shows that this asymmetric environment results in an increase in heart rate and energy expenditure, an increase in activity in the muscles about the hip and knee, and a decrease in impact force at heel strike. Conclusions: Compliant environments, like those created on the VST, may be a beneficial tool as they can reduce high-impact forces during running and walking, engage the muscles surrounding the hip and knee significantly more than normal walking allowing for targeted training and rehabilitation, and be a useful way to identify and train high fall-risk individuals.