Robotic Technologies and Rehabilitation: New Tools for Stroke Patients’ Therapy

Table 3

Main automated electromechanical gait machines.

Classification	Devices	Characteristics
Robot-driven exoskeleton; orthotic	Lokomat	Robotic gait orthotic combined with a harness-supported body weight system used in combination with a treadmill. The robotic device according to a preprogrammed gait pattern guides patient’s legs; the process of gait training is automated.
	LOPES Lower-; extremity powered; exoskeleton	Combination of a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee.
End-effectors; (electromechanical solutions with two driven foot plates simulating the phases of gait)	Gait Trainer GT-1	Two foot-plates symmetrically simulate the; stance and the swing phases of walking while the patient is on the devices.
	Haptic walker	Evolution of the “Gait trainer GT-1”: it allows simulation of walking up-or downstairs; the walking speeds can be fully adjusted to individual patients’ needs; it has 6 DOFs force/torque sensors located under each footplate; it can be integrated into virtual GT environments and combined with other modalities (e.g., visual feedback).
	Lokohelp	It is a device that can be placed on a treadmill, easily installed and removed: it transmits the treadmill movement to levers positioned on both sides of the device, so the simulation of gait is achieved by the track of the levers, which imitate the stance and swing phases.
	G-EO-System	It consists of two foot-plates, freely programmable; its main characteristic is to enable not only the practice of simulated floor walking, but also stair climbing up and down.