Walking assistive apparatus for gait training patients and promotion exercise of the elderly

Eiichiro Tanaka, Keiichi Muramatsu, Keiichi Watanuki, Shozo Saegusa, Louis Yuge

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter presents authors development work on walking assistant exoskeletons for gait training of patients and promotion exercise of the elderly. The first exoskeleton is a whole leg assisting device using a special parallel link mechanism. For gait training of motor palsy patients, a weight bearing lifter was attached, and an impedance control was tuned by using frequency entertainment. For the elderly, a torque controller taken into account the dynamics of both a user and the apparatus with real time acceleration data is developed. The second exoskeleton is a whole body assisting suit was developed by adding arm assistance to the whole leg apparatus. By assisting not only legs but also swinging arms, an increased cerebral activity of all areas can be expected via rehabilitation with the whole body exoskeleton. Finally, we developed a close-fitting type exoskeleton assisting only ankle joint, which leads to a product RE-Gait® in 2016. By utilizing the structure of bi-articular muscle and physiological phenomenon of stretch reflex, the user’s leg can be raised assisting only ankle joint. Experiments with by hemiplegic patients are enclosed, which show that abduct variation of the hip joint is decreased while the stride length is increased by using the device.

Original languageEnglish
Title of host publicationWearable Exoskeleton Systems
Subtitle of host publicationDesign, control and applications
PublisherInstitution of Engineering and Technology
Number of pages36
ISBN (Electronic)9781785613029
Publication statusPublished - 2018 Jan 1


  • Gait training
  • Promote exercise
  • Walking assistance

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science(all)


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