Handle driving mechanism for locomotion rehabilitation

A system comprising:

• a sled;
• a first linkage system and a second linkage system, both the first and second linkage systems being attached to the sled and comprising:
• a driving link configured to rotate in a rotational direction;
• a first footplate link in mechanical communication with the driving link, the first footplate link being configured to translate in a first direction in response to rotation of the driving link in the rotational direction;
• a footplate in mechanical communication with the first footplate link such that the footplate is configured to translate in the first direction when the first footplate link translates in the first direction;
• a pulley system comprising:
• one or more pulleys;
• and
• a belt in mechanical communication with the one or more pulleys;
• a second footplate link in mechanical communication with the first footplate link and a first fixed belt position of the belt, wherein the second footplate link is configured to translate in the first direction when the first footplate link translates in the first direction, thereby causing the first fixed belt position to translate in the first direction and a second fixed belt position to translate in a second direction that is substantially opposite the first direction;
• and
• a handle in mechanical communication with the second fixed belt position of the belt when the handle is in an engaged state such that when the footplate translates in the first direction, the handle translates in the second direction,
• wherein the footplate of the first linkage system and the handle of the second linkage system are configured to translate in the second direction when the footplate of the second linkage system and the handle of the first linkage system translate in the first direction.