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(a) Honda Walking Assist Device  (HWA) and (b) gait training with the HWA. HWA assists hip flexion and extension of both limbs in line with the patient's gait. The angle and torque sensors built into the hip joint actuator monitor the hip angle and generate appropriate torque. The torque exerted by the actuator is calculated and output in real time by an algorithm that adjusts to approximate normal walking.
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HWAT was adjusted by the physiotherapist based on patient feedback and visual motion analysis to ensure that walking was as comfortable and symmetrical as possible. HWAT was performed in the physical therapy room or in the corridors of the hospital with the patient using a T-cane and a plastic short leg brace (Figure 1b).
Timeline of the maximum walking speed for the current patient. The maximum walking speed in this case had reached a plateau in recovery before the start of HWAT.
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It is worth noting that his maximal walking speed had plateaued by this point (Figure 2).
Average angular changes over a gait cycle in the hip, knee, and ankle joints recorded during the 10mWT. (a) Hip joint, (b) knee joint, and (c) ankle joint. Gray lines, average angular change before HWAT; black lines, average angular change after 20 sessions of HWAT.
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The first maximum flexion angle of the knee joint occurred at between 0% and 40% of the gait cycle, and the second maximum flexion angle was between 50% and 100% of the gait cycle (Figure 3a,b).