An active exoskeleton called P.I.G.R.O. designed for unloaded robotic neurehabilitation training

The development of innovative robotic devices allows the design of exoskeletons for robotic neurorehabilitation training. This paper presents the active exoskeleton called P.I.G.R.O. (Pneumatic Interactive Gait Rehabilitation Orthosis), developed by the Authors. The main innovative characteristic of this prototype is its design for fully unloaded robotic neuro-rehabilitation training, specific for brain injured patients. It has 6 DoF (Degrees of Freedom) in the sagittal plane, an active ankle joint (removable if it is required), a wide range of anthropometric regulations, both for men and for women, an useful Human Machine Interface (H.M.I.) and an innovative harness system for the patient for the unloaded training. It is realized using light and strong materials and it is electro-pneumatically controlled. In particular Authors also studied and defined some innovative input control curves useful for the unloaded training. In this paper, the main characteristics and innovations of P.I.G.R.O. are presented.