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 |
Hip/knee | 2 | DC motors | Physical therapy | Passive /active/assistive/resistive | Velocity | Physical disabled | Yes | Clinical trial/commercial (FDA) | |
Ankle | 1 | DC motor | Physical therapy | Passive/active/assistive/resistive | Velocity and torque | Neurological | No | Clinical trial/commercial (FDA) | |
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 |
Hip/knee | 4 | Electric motors/cable driven | Physical therapy | Active /assistive/resistive | Motion | CP | No | Clinical trial | |
Hip/knee | 2 | DC motors | Physical therapy | Active/assistive/resistive | Speed | Neurological | Yes | Feasibility study | |
Ankle | 6 | Pneumatic | Physical therapy | Active/resistive | – | CP | Yes | Clinical trial | |
Ankle | 2 | DC motors | Physical therapy | Passive/active/resistive | – | Neurological | No | Clinical trial | |
Hip/knee | 6 | AC motors | Physical therapy | Assistive/resistive | Motion | CP | No | Clinical trial | |
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 | Â | 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 |