TruST (Trunk Support Trainer) is a cable-driven robot where a thoracic belt is pulled  by wires by actuators mounted on a fixed frame. The wires are controlled to apply a force field on the upper body in response to the body’s motion. The wires provide assist-as-needed forces for rehabilitation, training, and strengthening of the upper body.

The Trunk Support Trainer (TruST) is a cable driven robotic system for postural training of individuals with postural instabilities. It allows controlling of forces and moments along a region of the human trunk. TruST utilizes four cables attached to each corner of an adaptable but rigid torso belt, while the other end of the cable is routed through a pulley and connected to an AC servo motors attached to the bottom of a fixed frame. A load cell and spring are attached in series with each cable, for measuring and controlling the tension in each cable.

Schematic of TruST

TruST is capable of applying assistive and resistive forces and perturbations along any region of the trunk, in the transverse plane. In addition, one of the unique capabilities of the TruST is its force field control strategy for posture training. This allows an individual to train at their  individualized boundary of stability. By training at one's stability limits, he or she can explore their workspace boundary and improve their intersegmental coordination.

Force Field Control