Research Article
[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 | √ | √ | √ | | |
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