Robotic Gait-Trainer Exoskeleton

Robot-assisted gait training devices such as the Lokomat drive a patient's leg through a reference walking trajectory using torque-controlled hip and knee actuators, gradually reducing assistance as the patient recovers voluntary control — a strategy called assist-as-needed control. This simulator models a real two-link (thigh + shank) planar manipulator under full Lagrangian dynamics, driven by a PD controller that blends robot assistance with a simulated patient's own residual effort. Tune the assistance level, patient impairment, walking cadence and body-weight support (as in real BWS treadmill training) and watch the exoskeleton leg track — or fail to track — the reference gait trajectory, with live RMS tracking error, motor torque and gait-phase readouts.