Analysis of gait pattern during stair walk for improvement of gait training robot.

This paper seeks stair gait patterns which can improve effectiveness of gait training by applying to robotic locomotion therapy system. To get applicable data for stair walking function of the system, the stair walk of five subjects were measured by a motion capture system. From the acquired data, trajectories of each joint angle and relative change of the joints were calculated in the anatomical sagittal plane. Also, we were attempt to create more natural stair gait pattern by analyzing the movement of hip on the transverse plane.