Many patients struggle with disabilities that hinder their ability to walk. This project aimed to create a leg assembly capable of variable gravity so that it could be combined with a Robotic Walking Training Device, and lead to better rehabilitation options for patients. This was accomplished by deriving equations of joint torque, creating circuit diagrams for Arduino systems, modeling leg assemblies in CAD, and finally combining it to create a working small-scale prototype. The result of the prototype testing showed accurate movement on each joint, especially the ankle and knee segments, to create virtual zero gravity. In addition to this, a walkway module with varying pathway disturbances such as slipping and tripping modules was created, so that gait motion could be tested, and the data used to further the research for the leg assembly models.

Date of publication

Spring 2024

Document Type




Persistent identifier


Committee members

Dr. Goh, Dr. Salim, Dr. Ibrahim, Dr. Jeon


Masters in Mechanical Engineering