A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

Figure 5

Response of robot’s ankle joint implemented with the controllers A, B, and C as a result from the disturbance torque with maximum magnitude of (a) 1.0 N·m, (b) 4.0 N·m, (c) 7.0 N·m, and (d) 10.0 N·m.

(a)

(b)

(c)

(d)