... al., Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients Journal of NeuroEngineering and Rehabilitation 2010, 7:30 Page 10 of 10 ... securing the patient lifter's belt to the harness, standing up with the assistance of the therapist, and a last check before starting therapy The trajectories of the foot plates during the floor walking ... of the jerk [21], the third derivative of the position information The data relative to the marker placed on the metatarsale V provided the information for the up- and down movement and the forward-backward...