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. 2015 Feb 10;12(1):12. doi: 10.1186/s12984-015-0007-7

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© Hurt et al.; licensee BioMed Central. 2015

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly credited. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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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.