Figure 1

The experimental setup used for this investigation is illustrated. The torso harness is attached to the pelvic mechanism via a tether, which was used to limit the amount of forward trunk flexion while walking. Bilateral force sensors embedded in the pelvic interface allow the treadmill belt to be self-driven at speeds predicated by the fore-aft directed forces applied through the pelvic interface. The pelvic harness provided safety against a loss of balance while walking and did not provide any body weight support.