FU-CHENG WANGTan, Yin KeatYin KeatTanCheng, Hsin TiHsin TiChengChang, Jia-WeiJia-WeiChangChen, Szu-FuSzu-FuChenLin, Ang-ChiehAng-ChiehLinCheng, Lin-YenLin-YenChengLin, Tzu-TungTzu-TungLin2025-04-152025-04-152024-08-27https://www.scopus.com/record/display.uri?eid=2-s2.0-85216415227&origin=recordpagehttps://scholars.lib.ntu.edu.tw/handle/123456789/728096This paper develops a speed-control treadmill for a rehabilitation trainer that employs the neuro-developmental treatment (NDT) principles. NDT is an effective rehabilitation technique for stroke patients, but it also demands the therapists' time and effort. Consequently, patients might not receive sufficient training in the golden rehabilitation period due to the lack of therapists' assistance. Previous studies proposed a stationary trainer that could automatically repeat the NDT intervention to relieve therapists' work burden and increase patients' practice time. However, the subjects often needed to adjust their walking speeds when receiving the training because the trainer employed a treadmill with a constant velocity, resulting in walking with unnatural gait patterns. Therefore, this paper proposed a speed-controltreadmill, which can modify velocities according to the subject's walking speed. The treadmill equips a sensor to detect the subject's position and a motor control systemto keep the position. We derived the treadmill models and designed a robust controller to adjust the treadmill velocity during NDT training. Finally, we invited ten healthy subjects to conduct experiments. Based on the results, the stationary NDT trainer employing the velocity-control treadmill could improve subjects' longitudinal symmetry, lateral asymmetry, pelvic rotation, walking speed, and step length.falsecontrolgaitneuro-developmental treatmentrehabilitationrobuststroketrainertreadmillconference paper2-s2.0-85216415227