Robotic shoe for diagnosis and rehabilitation of gait anomalies

A robotic shoe system, comprising:

• at least one sensor whose output provides information regarding the gait of a wearer of the shoe;
• a control system adapted to receive output signals from the at least one sensor, and to process the signals in real time to provide a dynamic representation of the wearer's walking pattern;
• and
• at least one element mounted on a sole of a shoe, providing ground contact for the shoe,
• wherein the at least one element is configured to be controlled to move in the plane of the sole, according to output signals received from the control system, such that forces acting on the wearer's foot and lower limb can be adjusted in real time according to the wearer's walking pattern;
• wherein the at least one element is configured such that at least one degree of freedom of motion is provided by fore and aft motion of the at least one element, and another degree of freedom of motion is provided by rotation of an element around a pivot axis offset from a center of rotation of that element;
• and
• further comprising a pair of linear rails for each of the at least one element, along which each element can move fore and aft, and a worm gear on each side of each element, the worm gears meshing with a geared wheel attached to each element.