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

Table 1

Training activities of stroke rehabilitation robot in sitting/lying position.

Robot	Robot type	Actuated DOFs	Training activities	Training modalities
Anklebot	Foot robotic orthosis	Ankle dorsiflexion/plantar flexion, inversion/eversion	Training at ankle joint	Active assistive
Vi-RABT	Footplate-based end-effector robot	Ankle dorsiflexion/plantar flexion, inversion/eversion	Training at ankle joint	Active assistive, active
Ankle rehabilitation robot by Yoon et al.	Footplate-based end-effector robot	Ankle dorsiflexion/plantar flexion, inversion/eversion, metatarsophalangeal flexion/extension	Training at ankle joint, gait trajectory following	Passive, active assistive, active resistive
Lower limb paediatric therapy device by Chrif et al.	End-effector robot	Movement in sagittal plane	Leg press	Active resistive
Horizontal lower limb rehabilitation training robot by Guo et al.	End-effector robot	Movement in sagittal plane, ankle internal/external rotation	Training at single/multiple joints	Passive
ViGRR	End-effector robot	Movement in sagittal plane	Gait trajectory following, leg press	Active resistive
MOTOmed	End-effector robot	Movement in sagittal plane	Cycling	Passive, active assistive, active resistive
Physiotherabot	Exoskeleton	Hip flexion/extension, abduction/adduction, knee flexion/extension	Training at single/multiple joints, customized movement	Passive, active assistive, active resistive
Lower limb rehabilitation robot in our previous research	Exoskeleton	Hip flexion/extension, knee flexion/extension, ankle flexion/extension	Training at single/multiple joints, customized movement	Passive, active assistive, active resistive