GARRY: The Gait Rehabilitation Robotic System

Gait rehabilitation is a critical aspect of post-stroke recovery, and emerging technologies such as virtual reality and wearables are playing a pivotal role in facilitating this process. However, despite the potential benefits, there is a significant gap in robot-based rehabilitative systems that facilitate repeated use by maintaining users’ attention long-term. Our research aims to bridge this gap by creating a comprehensive system that utilizes different feedback types and robotic assistance to support users’ gait rehabilitation outcomes. In this paper, we introduce GARRY (Gait Rehabilitation Robotic System), a new robotic system that provides interactive feedback during locomotor training. It promotes engagement by gamifying the rehabilitation process, offering a fun means for the user to meet their rehabilitation goals defined and set by physical therapists. GARRY also incorporates behavioral feedback to introduce a sense of companionship during a session. We make GARRY open-source to other researchers in hopes of encouraging accessibility and to promote research in the field. Our code can be found here: https://github.com/UCSD-RHC-Lab/GARRYCCS CONCEPTS• Computer systems organization → Robotics; • Applied computing → Life and medical sciences.