Behavioural Neurology / 2017 / Article / Tab 3

Review Article

Robotics in Lower-Limb Rehabilitation after Stroke

Table 3

Overview of training modes for rehabilitation robot.

Training modesCharacteristicsRepresentative works

Passive modeThe robot helps the patient track the predetermined trajectory through
repeated tracking control for passive training.
Ankle robot and gait orthosis [9092]
Gait Trainer (GTI) [30]
LOPES [93]

Active modeWhen the patient has a certain initiative, the rehabilitation robot will
change its trajectory or assistance force.
AAFO [20]
LOPES [93]
ALEX [17]

Active assist modeA 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 modeA 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]

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