An Open-Structure Treadmill Gait Trainer: From Research to Application

Table 1

Parameters of robot.

Name	Parameter
Degree of freedom of exoskeletons	4 DOF
Adjustment range suspension height	0–500 mm
Adjustable speed of suspension height	5 mm/s
Thrust of lift column	3000 N
Height range of patient	160–185 cm
Adjustment range of armrest width	500–800 mm
Angle of armrest opening	0–900
Treadmill width	800 mm
Width of running surface	450 mm
Treadmill height	290 mm
Treadmill speed	≤0.3 mph
Hip motor	Maxon RE50, 200 watts,; 24 V, 5680 rpm,10.8 A
Knee motor	Maxon RE40, 150 watts,; 24 V, 6930 rpm, 5.77 A