Table 5 Lower limb end-effectors rehabilitation robots
From: Robotic devices for paediatric rehabilitation: a review of design features
| System (year) | Treated part of the body | DOFs | Actuator | Type of rehabilitation | Type of training | HCI input | Paediatric disease (design for or treated condition) | Paediatric design | Stage of the device |
|---|---|---|---|---|---|---|---|---|---|
| GAIT trainer GT 1 (REHA-STIM MEDTEC, Switzerland) (2000) [188, 189] | Hip/knee | 2 | DC Motors | Physical therapy | Passive/assistive | Velocity | Neurological | No | Clinical trial/commercial |
| MOTOmed gracile (RECK, Germany) (2000) [190, 191] | Hip/knee | 2 | DC motors | Physical therapy | Passive /active/assistive/resistive | Velocity | Physical disabled | Yes | Clinical trial/commercial (FDA) |
| IntelliStretch (Rehabtek, USA) (2002) [192, 193] | Ankle | 1 | DC motor | Physical therapy | Passive/active/assistive/resistive | Velocity and torque | Neurological | No | Clinical trial/commercial (FDA) |
| Innowalk (Made for Movement, Norway)(2009) [114, 194] | Hip/knee | 2 | Electric motors | Physical therapy | Passive | – | Neuromuscular problems | Yes | Clinical trial/commercial |
| National Taiwan University (2009) [195] | Hip/knee | 2 | DC motors | Physical therapy | Passive | – | CP | Yes | Prototype |
| 3DcaLT (2011) [134, 196] | Hip/knee | 4 | Electric motors/cable driven | Physical therapy | Active /assistive/resistive | Motion | CP | No | Clinical trial |
| Paediatric ICARE (2011) [197, 198] | Hip/knee | 2 | DC motors | Physical therapy | Active/assistive/resistive | Speed | Neurological | Yes | Feasibility study |
| Rutger ankle CP system (2011) [112, 199] | Ankle | 6 | Pneumatic | Physical therapy | Active/resistive | – | CP | Yes | Clinical trial |
| SS-POINT (2013) [135, 200] | Ankle | 2 | DC motors | Physical therapy | Passive/active/resistive | – | Neurological | No | Clinical trial |
| TPAD (2014) [102, 103] | Hip/knee | 6 | AC motors | Physical therapy | Assistive/resistive | Motion | CP | No | Clinical trial |
| Pedbot(2016) [153, 201] | Ankle | 3 | DC motors | Physical therapy | Active/assistive/resistive | Position | CP | Yes | Clinical trial |
| Wyss Institute (2017) [202] | Hip/knee | 8 | DC motors/cable driven | Physical therapy | Assistive | Gait segmentation/motion/force | CP | Yes | Prototype |
| Pro-Gait (2017) [40] | Hip/knee | 2 | DC motors | Physical therapy | Passive | CP | Yes | Prototype | |
| UFMG (2017) [87] | Hip/knee | 2 | Electric motors | Physical therapy | Passive | – | CP | Yes | Prototype |
| Leg Press (2017) [89] | Knee | 2 | Linear electrical motors | Physical therapy | Assistive/resistive | Impedance | Neurological | Yes | Prototype |