HOPE-G: A Dual Belt Treadmill Servo-Pneumatic System for Gait Rehabilitation

The use of robotic devices for gait neurological rehabilitation is growing, however, the available options are scarce, expensive, and with high complexity of construction and control. In this way, this paper presents the HOPE-G, a novel gait rehabilitation robot consisting of an active bodyweight support system and a dual belt treadmill servo-pneumatic module. This paper focuses on the development of the dual belt treadmill servo-pneumatic module, which has tipper movement to remove the physical barrier of the patient during the swing phase of the human gait rehabilitation. The mathematical models of the servo-pneumatic system and the treadmill module are provided. An impedance controller was designed to provide a compliant walking surface for the patient. Simulation and test rig results demonstrate the servo-pneumatic system’s capability to meet the application requirements and effectively control the surface stiffness. Therefore, it is evidenced that pneumatic systems have shock absorption capabilities, making them a cost-effective solution for application in human rehabilitation tasks.