Gait Analysis for Rehabilitation using Rigid and Flexible Exoskeletons

Diseases of the musculoskeletal and nervous systems have afflicted humans since recorded history. Similarly, injuries and related trauma of one form or another have impaired human ambulation or even made it impossible to stand, walk, run or even to sit or squat. Stretchers, crutches, wheelchairs, and exoskeletons have been developed to help improve the mobility of these disabled individuals, but often require assistance from others to some degree, limiting patient autonomy. To ascertain which assistive devices might be better suited to a particular patient with an ambulation disability or weakness, the healthcare providers must perform an assessment of the individual’s gait to first understand the underlying symptomatic deficits, diseases, or injuries. This paper reviews how exoskeletons can with respect to the gait cycle assist the weak and elderly as well as patients with specific diseases or injuries that impact ambulation.