However, the presented strategies a

However, the presented strategies are available in running treadmills and cannot be applied in walking therapy supported by body weight support systems,because the patient’s range of movement is significantly limited by rope of BWS system. Also the large displacement and large inclination of rope are connected with the adverse impact of the weight-relief force on gait reeducation process. This article presents a new method of controlling treadmill speed intended for gait reeducation devices with body weight support system. This method is based on measuring the angle of swing of the rope fastened to the BWS system, through which the weight load of the patient is reduced. The system autonomously adjusts the treadmill speed in order to synchronize it with the walking speed of a patient.Treadmill speed adaptation system allows the patient to train gait with as high as possible but at a comfortable pace. We can treat it as a kind of optimization of training speed for the patient’s abilities. This change of treadmill speed must be done in a smooth and safe way, without adverse overshoot and oscillations of the rope. Due to the relief of the patient by the BWS system (the tension of the rope is the external load of the patient), the rope should be kept in a vertical position with as little deflection as possible. In addition, the system should be easy to operate 127by personnel in the rehabilitation center. It should also allow for adjusting the dynamics to the individual preferences of the patient. Assuming difficulties with modeling the patient’s gait and its unpredictable behavior, developing an effective and stable system of treadmill speed adaptation was an interesting engineering challenge. In the proposed control system a fuzzy logic controller was used to adapt the speed of the treadmill.Developed treadmill speed adaptation system has been tested by the authors on mechatronic device for gait reeducation. The construction of a mechatronic system for gait re-education was also presented,with particular emphasis on the modernization of the treadmill drive system. The implemented modifications were beneficial both in terms of treadmill dynamics control as well as pro-ecological aspect.