|
| Groups | Devices | Researchers | Actuated DoF | Driving modes | Control strategies | Training modes |
|
| | Lokomat [101] | Zurich
Switzerland | Two-leg DoFs | Motor drive | Position control
Patient-cooperative
strategy
Posture control | Passive mode
Active assist mode |
| | LokoHelp [16] | Woodway & LokoHelp Group | Two-leg DoFs | Treadmill drive, standalone
driving device not required | Trajectory tracking
control | Passive mode
Active assist mode |
Treadmill-based
exoskeleton robots | ALEX [17] | Banala and Aqrawal et al. from
University of Delaware, US | Seven DoFs for translations
and rotation of a leg | Motor drive | Assist-as-needed
control | Active mode |
| | Lopes [18, 19] | Reneman et al. From university
of Delaware, US | Three rotational DoFs in
each leg | SEA (series elastic actuator)
drive | Impedance
control | Active mode
Active assist mode |
| | AAFO [20] | Seoul and Korea from
Yonsei University | Two motion DoFs for
ankle joint | SEA (series elastic actuator)
drive | Force/impedance
control | Active mode |
| | KAFO [21] | The Department of Mechanical
Engineering of the Ottawa University | Free motion DoFs in sagittal
plane for ankle and knee | No driver, using the location
of mechanical structure and
spring to provide tailwind | Force control | Active assist mode |
|
Leg orthoses
exoskeleton robots | HAL [22] | University of Tsukuba, Japan | Full-body exoskeleton for
arms, legs | Motor drive | Autonomous control
Automatic mixture
control | Active assist mode |
| | BLEEX [23, 24] | Kazeroom et al. from University
of California, US | Seven DoFs for each leg in
hip, knee, and ankle joints | Hydraulic drive | EMG signal control
Force control | Passive mode |
| | Rutgers ankle [25] | Girone et al. of Rutgers University | Six DoFs ankle and foot
based on a Stewart platform | Pneumatic drive | Impedance control
Force control | Active mode
Passive mode
Active resist mode |
|
Platform-based
end-effector robots | ARBOT [26, 27] | Saglia et al. from Istituto Italiano
di Tecnologia, Italy | Two ankle DoFs in
plantar/dorsiflexion,
inversion/eversion | Motor drive | Position control | Passive mode
Active assist mode
Active resist mode |
| | Parallel ankle
robots [28, 29] | Xie et al. from the University
of Auckland New Zealand | Three ankle DoFs provided
by 4-axis parallel robot | Motor drive | EMG-based evaluation
and adaptive control | Active mode
Passive mode |
| | Gait Trainer
GTI [30] | The Free University Berlin,
Germany | Two footplates for foot/leg
movement | Motor drive | Trajectory tracking
control | Passive mode
Active mode |
|
Footplate-based
end-effector robots | Haptic
Walker [31] | Hesse et al. from Charite University
Hospital, Germany | Arbitrary movement DoFs
for two feet | Motor drive | Trajectory tracking
control | Passive mode
Active mode |
| | G-EO
Systems [32] | Reha Technology AG, Switzerland | Two footplates for walking
and climbing DoFs | Motor drive | Position control
Trajectory tracking
control | Active assist mode |
|
