Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Table 1

Existing lower limb gait rehabilitation orthosis systems comparison.

Comparison between existing lower limb gait rehabilitation orthosis systems
Orthosis system	Type of actuator	Number of joints	Actuated DOFs	Operating speed	References
LOKOMAT	DC motors	Hip and knee joints, passive foot lifter was applied at ankle Joint	Sagittal plane	0.56 m/s	[1–3]
Lower Extremity Powered Exoskeleton (LOPES)	Bowden cable series elastic actuators (SEA) and servomotors	Hip and knee joints, elastic straps was applied at ankle joint	Sagittal plane	0.75 m/s	[4, 5]
Active Leg Exoskeleton (ALEX)	Linear actuators	Hip, knee, and ankle joints	Sagittal plane	0.40 m/s up to 0.85 m/s	[6, 7]
Robotic Orthosis for Gait Rehabilitation	Pneumatic muscle actuators (monoarticular actuators)	Hip and knee joints, foot lifter was used at ankle joint	Sagittal plane	0.60 m/s	[12, 13]
Body Weight Support Gait Training System (AIRGAIT)	Pneumatic muscle actuators (mono- and biarticular actuators)	Hip and knee joints, foot lifter was used at ankle joint	Sagittal plane	0.35 m/s (4s GC), 0.47 m/s (3s GC), 0.70 m/s (2s GC), and 1.40 m/s (1s GC)