Patent ID: 8684890

Claim:
A rehabilitation apparatus for lower limb gait therapy comprising: a frame system; a body weight support system mounted to the frame system for supporting gait therapy subjects; a two-panel walking surface including first and second foot panels, the first foot panel having a first conveyor and the second foot panel having a second conveyor, the walking surface being integrated with the frame system and the body weight support system, wherein the body weight support system is capable of supporting the subjects body above the first and second foot panels such that each of a first and second foot of the subject rests along a surface of one of the first and the second conveyors; an actuation system operatively coupled with the two-panel walking surface to actuate each of the first and the second foot panels to alternately lower and raise from a stationary position, the actuation system being configured to: lower the first foot panel for separating the first foot from the first conveyor when a corresponding first leg supported thereon is at the end of a stance phase thereby permitting at least gravity to propel the separated first foot and the corresponding first leg of the subject forward relative to the subject in a swing motion, while simultaneously conveying, using the second conveyor, for moving the second foot in a backward direction relative to the subject; raise the lowered first foot panel for re-establishing contact with the separated and swinging first foot such that the first foot reestablishes contact with the first conveyor in a heel strike; lower the second foot panel for separating the second foot from the second conveyor when a corresponding second leg supported thereon is at the end of a stance phase thereby permitting at least gravity to propel the separated second foot and the corresponding second leg of the subject forward relative to the subject in a swing motion, while simultaneously conveying, using the first conveyor, for moving the first foot in a backward direction relative to the subject; raise the lowered second foot panel for re-establishing contact with the separated and swinging second foot such that the second foot reestablishes contact with the second conveyor in a heel strike; and a controller associated with the actuation system and configured for: determining, based on first leg information characterizing a first leg position of the subject, when to raise the first foot panel for causing the first foot to reestablish contact with the first conveyor in a heel strike; determining, based on second leg information characterizing a second leg position of the subject, when to raise the second foot panel for causing the second foot to reestablish contact with the second conveyor in a heel strike; and controlling the speeds of one or both conveyors and the lowering and raising of one or both foot panels.