Abstract
This study describes the development and implementation of a robotic perturbation-based training methodology for children with cerebral palsy (CP). A Robotic Perturbation Trainer (RPT) was engineered to deliver controlled multidirectional waist-pull perturbations during treadmill walking. The system integrates a cable-driven parallel manipulator with a treadmill and body-weight support to enable safe and repeatable application of external disturbances in the transverse plane. The methodology was implemented in two adolescents with CP (ages 16–17; spastic diplegic and spastic dyskinetic subtypes) using a 5-week protocol consisting of ten treadmill-based sessions. Training parameters, including perturbation magnitude (65–85 N) and treadmill speed (0.2–0.5 km/h), were progressively adjusted according to predefined ranges. A multimodal assessment framework was applied at baseline, mid-, and post-implementation stages. Functional mobility and balance were evaluated using standardized outcome measures (6-Minute Walk Test, 10-Meter Walk Test, Timed Up and Go Test, Berg Balance Scale, and Gross Motor Function Measure), and surface electromyography was used to quantify activation of the gluteus maximus and medius muscles. The proposed methodology: Delivers controlled transverse-plane perturbations during treadmill walking using a cable-driven robotic system Applies a structured, progressive perturbation training protocol under body-weight support conditions Integrates clinical assessment tools with EMG-based muscle activity analysis for multimodal evaluation