DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
2026-07-03 • Robotics
Robotics
AI summaryⓘ
The authors developed a new robotic device called the Dynamic Robotic Balance Assistant (DRBA) to help elderly people improve their walking and balance. Unlike other machines, it is less bulky and supports natural movement by gently assisting only when needed. Tests with nine elderly patients showed that using the DRBA helped them walk faster and take longer steps compared to traditional therapist help. The device also allowed users to do exercises they normally couldn’t, suggesting it could improve rehabilitation by making training more effective and varied.
balance controlgait trainingrobotic gait trainerbody weight support3-degree-of-freedom robotic armsit-to-stand assistancefall detectionrehabilitationelderly patientsmotor transparency
Authors
Yifan Wang, Li Li, Youlong Wang, Chengyuan Yang, Sherwin Stephen Chan, Jiaye Chen, Xiaoyue Yan, Hao Wang, Xuesheng Gong, Jun Lin, Hongping Hu, Wei Tech Ang
Abstract
The decline of human balance control due to aging and pathological conditions increases fall risk, a major concern in geriatric care and rehabilitation. Gait training is essential for balance recovery, enhancing walking ability and postural control. However, existing overground robotic gait trainers have limitations: body weight support systems are bulky and impractical for daily use, while end-effector-based systems often compromise transparency, altering natural gait dynamics. This paper presents the Dynamic Robotic Balance Assistant (DRBA), a novel gait trainer providing assist-as-needed body weight and balance support for various training scenarios. DRBA integrates a 3-degree-of-freedom (3-DoF) robotic arm for pelvic support with flexible motion, a compact sit-to-stand assistance module, and user-following and fall detection algorithms to ensure minimal interference and responsive support. Experimental results demonstrated high transparency, with minimal impact on natural gait dynamics. A patient trial with nine elderly patients with varying medical conditions and balance impairments (ranging from severe to mild) further validated DRBA's effectiveness. The results showed that DRBA-assisted training increased step length and walking speed compared to therapist-assisted gait training. Additionally, DRBA enabled users to perform tasks beyond their unaided ability, expanding rehabilitation possibilities. These findings highlight DRBA's potential to enhance rehabilitation outcomes by facilitating higher training intensity and enabling task-oriented exercises.