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    Area of Science:

    • Robotics
    • Biomechanics
    • Rehabilitation Engineering

    Background:

    • Developing robotic therapy systems requires rigorous safety and performance testing before human trials.
    • Lower-limb robotic systems pose inherent injury risks, necessitating human-like test benches.
    • Existing test methods lack the fidelity to accurately simulate human gait dynamics.

    Purpose of the Study:

    • To propose an anthropomorphic robotic leg system as a human-like test bench for lower-limb robotic therapy.
    • To develop a bio-inspired control method for the robotic legs using patient-specific gait data.
    • To enhance the safety and efficacy of robotic therapy system development.

    Main Methods:

    • Measured electromyography (EMG) during body-weight-supported treadmill walking in a mildly hemiparetic stroke patient.
    • Extracted hemiparetic gait motor strategy using the equilibrium point (EP) concept to identify motor synergies.
    • Applied EP-based synergies, reflecting muscle mechanical impedance and virtual trajectory, to control anthropomorphic robotic legs.

    Main Results:

    • EP-based synergies effectively characterized the neuromuscular patterns of pathological gait.
    • The anthropomorphic robotic legs successfully reproduced the patient's gait by mimicking the extracted EP-based synergies.
    • The developed system demonstrated a human-like test bench capability.

    Conclusions:

    • The proposed anthropomorphic robotic legs with EP-based control offer a viable human-like test bench for robotic therapy systems.
    • This approach enhances the safety and reliability of pre-clinical testing for lower-limb robotic rehabilitation.
    • Bio-inspired control strategies derived from patient data can accurately replicate pathological gait dynamics.