US Patent 9987188 Method and system for body weight support

A body weight support (BWS) system is disclosed. The BWS system includes a harness coupled to a plurality of cables, wherein the harness is worn by a subject, an actuator for each of the plurality of cables, each actuator configured to place a tension on a corresponding cable in response to an electrical signal, at least one force sensor configured to provide an electrical signal corresponding to forces applied to the harness, at least one motion sensor configured to provide an electrical signal corresponding to changes in acceleration of the subject, and a controller configured to control the plurality of actuators.