Abstract: A robotic gait training system includes a femoral support unit supporting a thigh of a patient, a hip joint support unit supporting buttocks of the patient, a lower leg support unit supporting a lower leg, an ankle support unit supporting an ankle, a support fixing toe tip positioned at an ankle height of the patient in use, a toe tip pad supporting and wrapping a forefoot of the patient, a tilt sensor, a first linear actuator operation unit rotating the femoral support unit based on the hip joint unit, a second linear actuator operation unit rotating the lower leg supporting unit based on the femoral support unit, a control unit generating a functional electric stimulation (FES) control signal, and an FES unit stimulating the plantarflexor or dorsiflexor of ankle joint based on the FES control signal received from the control unit.

Abstract: The present invention relates to active robotic gait training system and method which enables more active gait training based on remaining gait ability of patients with gait disorders by estimating the gait cycle through measurement of slope of the lower leg, operating the hip joint and the knee joint by an actuator depending on the gait cycle and operating the ankle joint by functional electric stimulation (FES). The robotic gait training system contains the femoral support unit, the hip joint support unit and the lower leg support unit.