Figure 1

Interactive gait training device “Walk-Mate”. Walk-Mate gives rhythmic sound cue according to the user's footstep tempo measured by the acceleration sensor in the Transmitter (a). Body Model realize stable phase difference qd by the mutual entrainment with user's footstep rhythm to realize the function of stability of gait rhythm. Internal Model controls characteristic frequency wm by Target phase difference qt and qd to adapt the tempo of the cue to the tempo of the footstep rhythm (b).