Patent ID: 8888723

Claim:
A method for gait rehabilitation, comprising: identifying at least one deficient gait element; attaching a pedal rotatable, independent from rotational motion applied to it by at least one motor of a rehabilitation apparatus, in a plurality of axes to a foot of a patient; exercising said deficient gait element individually using the rehabilitation apparatus to automatically control the rotating of said pedal using motorized rotation in combination with independent pedal rotation while rehabilitating said patient; and, exercising said deficient gait element through the pedal in concert with at least one other gait element in more than one plane on the same side of the body, using said rehabilitation apparatus, wherein the rehabilitation apparatus provides exercising in at least one of three modes, the first where motive force is solely derived from the patient, the second where motive force is solely derived from the rehabilitation apparatus and the third where motive force is derived as a combination from the patient and the rehabilitation apparatus.