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) 
|Active mode||When the patient has a certain initiative, the rehabilitation robot will |
change its trajectory or assistance force.
|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.
G-EO Systems 
|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