Unrestraint support robot for elderly gait rehabilitation

This paper presents a prototype development of an unrestraint support robot for gait rehabilitation of injured or elderly people. Our developed system consists of a support robot for preventing a trainee from falling with bodily unrestraint. Unrestraint means not atattching markers or sensors on the body, but using an optical sensor for detecting a position of the trainee and a camera for obtaining a condition of walk. We have examined several measurements of stoop motion by use of camera and a software calculating positions of trainee's head. The results have been agreement with data detected by three dimensional captured images for verification.