Robotics in Lower-Limb Rehabilitation after Stroke

Table 3

Overview of training modes for rehabilitation robot.

Training modes	Characteristics	Representative works
Passive mode	The robot helps the patient track the predetermined trajectory through; repeated tracking control for passive training.	Ankle robot and gait orthosis [90–92]; Gait Trainer (GTI) [30]; LOPES [93]
Active mode	When the patient has a certain initiative, the rehabilitation robot will; change its trajectory or assistance force.	AAFO [20]; LOPES [93]; ALEX [17]
Active assist mode	A kind of “active” mode. The patient does not need any help to move; the limb. When the threshold value reaches a certain standard, it will; trigger the robot.	HAL [22]; KAFO [21]; G-EO Systems [32]
Active resist mode	A kind of “active” mode. When the patient moves the limb, the robot; provides resistance to make the exercise more challenging.	ARBOT [94, 95]; Rutgers ankle [25]