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

Table 2

Training modalities implemented in each training activity.

Training activity	Training modalities
	Passive	Active assistive	Active	Active resistive
Single-joint training (at hip, knee, or ankle joint)	x	x	x	x
Multiple-joint training
Leg press				x
Cycling	x	x		x
Gait trajectory following				x
Customized movement		x