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Behavioural Neurology
Volume 2017, Article ID 3731802, 13 pages
Review Article

Robotics in Lower-Limb Rehabilitation after Stroke

School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China

Correspondence should be addressed to Jing Wang; moc.liamg@elepgnaw

Received 27 February 2017; Revised 2 April 2017; Accepted 10 April 2017; Published 8 June 2017

Academic Editor: Yu Kuang

Copyright © 2017 Xue Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.