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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