Modified elliptical machine motor-drive design for assistive gait rehabilitation

Carl A. Nelson, Judith M. Burnfield, Yu Shu, Thad W. Buster, Adam P. Taylor, Andrew Graham

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


Current gait rehabilitation systems have limited use in community and home settings due to issues of design, cost, and demands on clinical staff. To overcome these challenges, a new gait rehabilitation machine was designed and developed by modifying an existing elliptical trainer. The Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) provides answers to design limitations that occur in partial-bodyweight-support treadmill systems and other robotic systems by providing a simulated gait motion without the financial and human resource challenges. The ICARE system integrates ergonomic, comfort and safety enhancements with a motor-drive system to optimize usability by individuals with physical disabilities in hospitals, homes, and fitness settings. The affordable new design provides a complete system that reduces physical demands on clinical staff without compromising patient safety. Development and preliminary testing of the ICARE's motor-drive system are detailed.

Original languageEnglish (US)
Article number021001
JournalJournal of Medical Devices, Transactions of the ASME
Issue number2
StatePublished - May 2 2011


  • Assistive elliptical machine
  • Gait rehabilitation

ASJC Scopus subject areas

  • Medicine (miscellaneous)
  • Biomedical Engineering


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