Bipedal locomotion training and performance evaluation device and method

  • US 7,066,865 B2
  • Filed: 12/01/2003
  • Issued: 06/27/2006
  • Est. Priority Date: 06/09/1998
  • Status: Expired due to Term
First Claim
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1. An apparatus for simulating conditions of bipedal locomotion for a human subject, comprising:

  • a conveyor defining a velocity;

    a velocity sensor that measures the velocity of the conveyor;

    a force-measuring sensor;

    a restraint operably coupled to the sensor to measure a force applied to the restraint by a human subject;

    a controller configured to control the velocity of the conveyor utilizing a haptic equation that incorporates an equation of motion describing bipedal human locomotion.

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