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June 13, 2026International Journal of Advanced Robotic SystemsOpen Access

Design optimization and realization of a Gough-Stewart platform for hippotherapy

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Authors

HGHubert GattringerAMAndreas Müller

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Overview

Randomized trial shows effective motion generation in hippotherapy, suggesting a new therapeutic tool.

Key Points

  • The aim is to design a compact Gough-Stewart platform that enhances hippotherapy through improved motion profiles.
  • Designed a Gough-Stewart platform using pneumatic muscles and a spring for bidirectional motion.
  • Optimized geometry to minimize actuator forces while adhering to workspace and collision constraints.
  • Implement control using inverse-dynamics and PID loops, enhanced by a neural network to address spring nonlinearity.
  • Successfully generated intended motion profiles for walk, trot, and gallop according to motion capture data.
  • Demonstrated robustness against variable load conditions.
  • Validated suitability for therapeutic applications.

Cite This Study

Gattringer et al. (2026) studied this question.

synapsesocial.com/papers/6a2cf500faef96ed7f0572abhttps://doi.org/10.1177/17298806261458851
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Also Consider

Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context:

  1. 13D Modelling and Simulation Based on Kinematic Analysis for Hippotherapy2024
  2. 2End‐to‐End Design and Validation of a Low‐Cost Stewart Platform With Nonlinear Estimation and Control2026
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  4. 4Kinematic Performance of a Customizable Single Degree-of-Freedom Gait Trainer for Cost-Effective Therapy Aimed at Neuromuscular Impairments2024
  5. 5Modeling and simulation of heavy-duty six-degree-of-freedom parallel platform for high-precision positioning2025