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Modeling of Crutch Walk Training System with Falling Sensation Device

A crutch is used by a patient who cannot put weight on the lower limb due to a sudden injury. In this research, a training device for the crutch walk was proposed. A falling sensation device (FSD) was modeled for the crutch walk training. By using this device, an untrained patient would be able to get used to walk properly with crutches. In this paper, firstly, the equations of motion of the crutch and the proposed FSD were derived by the Lagrange method. Secondly, the applicability of the derived equations of motion was confirmed through experiments. Finally, the motions of the crutch were simulated and the effects of FSD were confirmed.