| Abstract | Walking training is a major component of the rehabilitation of stroke patients. The training method was applied repeatedly to properly train consistently. To provide patients can learn and develop a better way until conditions return to normal, or as close as possible. Typically, stroke patients will be walking training with a physiotherapist. During the walking practice, which will have to help monitor the movement and supporting the patient at all times. At present, the development of medical innovations in order to help patients practice walking can be repeated correctly and continuous, that is the practice walking robot. The robot has been active in medical and continuously developing, for example, robotic surgery, rehabilitation walking robot, robot for elderly and disabled and robots for medical treatment. The focus of this research is study robotic therapy which is gait training robot. Propose of this research study is to operate the machine which can force feet to move along the gait pattern. Firstly, whole mechanism consists of two sides: left and right feet. Each side compose the sliding devices and plantar angle. In addition, design of the mechanism for feet gait rehabilitation, including the walking parameters which are step length, stride length, step height and angle of ankle. Therefore, the mechanism must be 3-axis motion contain with 2 linear and 1 rotational motion per foot. The maximum operation range of each axis are 700 mm, 500 mm, and ±20 degree, XZY-axis respectively. Second, will be focus on control system and design PID controllers in order to control feet position and ankle angle during movement follow gait path. Then, Graphic user interface for execution the machine has been designed and programming in Microsoft Visual C# software. Finally, will be compare results between difference speed of walking experimental. |