HYBRID: Ambulatory robotic gait trainer with movement induction and partial weight support

Eloy Urendes*, Guillermo Asín-Prieto, Ramón Ceres, Rodrigo García-Carmona, Rafael Raya, José L. Pons

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


Robotic exoskeletons that induce leg movement have proven effective for lower body rehabilitation, but current solutions offer limited gait patterns, lack stabilization, and do not properly stimulate the proprioceptive and balance systems (since the patient remains in place). Partial body weight support (PBWS) systems unload part of the patient’s body weight during rehabilitation, improving the locomotive capabilities and minimizing the muscular effort. HYBRID is a complete system that combines a 6DoF lower body exoskeleton (H1) with a PBWS system (REMOVI) to produce a solution apt for clinical practice that offers improves on existing devices, moves with the patient, offers a gait cycle extracted from the kinematic analysis of healthy users, records the session data, and can easily transfer the patient from a wheelchair to standing position. This system was developed with input from therapists, and its response times have been measured to ensure it works swiftly and without a perceptible delay.

Original languageEnglish (US)
Article number4773
JournalSensors (Switzerland)
Issue number21
StatePublished - Nov 1 2019


  • Disability
  • Exoskeleton
  • Gait
  • Induction of movements
  • Lower body rehabilitation
  • Partial weight suspension
  • Robotic rehabilitation
  • Trainer

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Instrumentation
  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering
  • Biochemistry


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