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Hemiparetic gait is abnormal asymmetric walking, often observed among patients with cerebral palsy or stroke. One of the major features of asymmetric gait is excessive reliance on the healthy leg, which results in improper load shift, slow walking speed, higher metabolic cost, and weakness of the unused leg. Hence, clinically it is desirable to promote gait symmetry to improve walking. While there are no clear methods to achieve this goal, we are exploring new methods where we guide the pelvis to change the gait symmetry. This controller is designed to mimic the hands of a physical therapist holding the pelvis and guiding it to promote the usage of both legs during walking. In this paper, we show that the essence of this method can be demonstrated by promoting asymmetry in the gait of healthy subjects when walking with the device. The results showed that their kinematics and kinetics changed asymmetrically during the intervention. Subjects demonstrated asymmetric lateral ground reaction force to compensate for the lateral forces applied on the pelvis. Muscle activities increased on the targeted leg show the forced use of the leg which can be used for rehabilitation of patients with an asymmetric gait.

Simulating Hemiparetic Gait in Healthy Subjects Using TPAD With a Closed-Loop Controller