[Retracted] Sensor-Based Exercise Rehabilitation Robot Training Method

Table 1

Some common exercise rehabilitation training robots and their functions.

Robot name	Configuration type	Applicable parts	Freedom	Active training	Passive training	Impedance training	Seme	Game interaction
MT-MANUS	End pull type	Shoulder, elbow	3	√	√			√
ARMin	Exoskeleton type	Shoulder, elbow, wrist	6		√	√		√
Harmon	Exoskeleton type	Simultaneous training of both upper limbs	12	√	√
Co-Exos	Exoskeleton type	Upper limb	6	√	√		√
Lokomat	Exoskeleton type	The legs	4	√	√	√		√
Ekso	Exoskeleton type	The legs	4		√
Indego	Exoskeleton type	The legs	4		√
HAL	Exoskeleton type	The legs	6	√	√		√
AIDER	Exoskeleton type	The legs	6	√	√		√
HemiGo	Exoskeleton type	The legs	6	√	√	√		√
GEMS-HI	Exoskeleton type	Hip joint	1	√
GEMS-K1	Exoskeleton type	Knee joint	1	√
GEMS-A1	Exoskeleton type	Ankle joint	1	√
RutgersAnkle	End pull type	Ankle joint	1	√	√			√
PAFO	Exoskeleton type	Ankle joint	1		√
ReStore	Exoskeleton type	Ankle joint	1	√	√	√