BioMed Research International / 2013 / Article / Tab 3

Review Article

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

Table 3

Main automated electromechanical gait machines.

ClassificationDevicesCharacteristics

Robot-driven exoskeleton
orthotic
LokomatRobotic 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-1Two foot-plates symmetrically simulate the
stance and the swing phases of walking while the patient is on the devices.
Haptic walkerEvolution 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).

LokohelpIt 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-SystemIt 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.

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