Design of a counterweight walker active therapeutic movement rehabilitation rig

According to INEGI (National Institute for Statistics and Geography), in 2004 there were around 730,000 people in Mexico with the need of some kind of mechanical aid to regain ability to walk. Support equipment for regaining the ability to walk normally is manufactured outside of Mexico. This equipment is complex and very expensive. In this work, the design of a walking ability rehabilitation aid is presented. This work is carried out applying the modular design concept. This ensures that all client needs are fulfilled by the resultant product, and that these needs are measurable and controllable. Basic idea behind this design is supporting part of patient's weight and that of an exoskeleton on a mechanical device. Basic kinematics and dynamic calculation are presented, as well as simulations results. This information shows the feasibility of building and operating this rehabilitation walking aid.