Skip to main content

Table 6 Lower limb exoskeleton 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

Lokomat (Hokoma, Switzerland) (2007) [203, 204]

Hip/knee

4

DC Motors

Physical therapy

Passive/active/assistive/

Impedance

Neurological

Yes

Clinical trial/commercial (FDA)

HAL (Cyberdyne, Japan) (2007) [91, 129]

Hip/knee/ankle

6

DC Motors

Physical therapy/assistance

Assistive

Footswitch EMG

CP

Yes

Clinical trial/commercial (FDA)

HWA (Honda, Japan) (2007) [205, 206]

Hip

2

DC Motors

Physical therapy/assistance

Assistive

Movement

CP

No

Clinical trial/commercial

University of Verona (2011) [207]

Hip

2

Pneumatic

Assistance

Assistive

Footswitch

CP

Yes

Feasibility study

Ekso-GT (ekso Bionics, USA) (2012) [127, 208]

Hip/knee

4

DC motors

Physical therapy

Passive/assistive

Hip movement

ABI

No

Clinical trial/commercial (FDA)

PediAnklebot (2015) [75, 118]

Ankle

2 active + 1 passive

DC motors

Physical therapy

Active/assistive

Impedance

Neurological

Yes

Clinical trial

Walkbot K (P&S Mechanics, South Korea) (2016) [209, 210]

Hip/knee/ankle

6

AC motors

Physical therapy

Passive/assistive/active

Impedance

Physical disabled

Yes

Clinical trial/commercial (FDA)

Robogait (Bama teknoloji, Turkey) (2017) [211, 212]

Hip/knee

4

Electric motors

Physical therapy

Assistive

Force

Physical disabled

No

Clinical trial/commercial

WAKE-Up (2017) [17, 213]

Knee/ankle

4

SEA

Assistance

Assistive

Footswitch

CP

Yes

Feasibility study

Universidad Pontificia Bolivariana (2017) [214]

Hip/knee

4

DC motors

Physical therapy

Passive

Physical disabled

Yes

Prototype

CPWalker (2017) [92, 154]

Hip/knee

4

DC motors

Physical therapy

Passive/active/assistive

Impedance/EEG/LRF

Neurological

Yes

Clinical trial

Rehabilitation Institute of Chicago (2017) [94, 215]

Ankle

1

DC motor

Physical therapy

Passive/assistive/resistive/active

Torque/position

ABI

No

Clinical trial

ATLAS (2017) [146, 167, 216]

Hip/knee/ankle

10

SEA

Assistance

Active/assistive/passive

Footswitch/position/force

SMA, SCI

Yes

Clinical trial

P.REX (2017) [95, 100]

Knee

1

DC motor

Physical therapy/assistance

Assistive

Footswitch/position/torque

CP

Yes

Clinical trial

University of Arizona ankle (2018) [73]

Ankle

1

DC motors/cable driven

Physical therapy

Assistive/resistive

Footswitch/torque

CP

Yes

Clinical trial

Tsukuba University (2018) [74]

Knee

2

Electric brake

Assistance

Assistive

Footswitch

CP

Yes

Feasibility study

Los Olivos University (2018) [217]

Hip/knee

4

DC motors

Assistance

Assistive

Joystick

DMD

Yes

Prototype

P-Legs (2019) [71]

Hip/knee/ankle

6

DC motors

Physical therapy/assistance

Passive/assistive

Impedance

Neurological

Yes

Prototype

ExRoLEG (2019) [218]

Knee

2

Linear actuators

Physical therapy/assistance

Assistive

EMG/limit switch

CP

Yes

Prototype

Cleveland State University (2019) [176, 219]

Hip/knee

4

DC motors

Physical therapy/assistance

Assistive

Position velocities

CP

Yes

Prototype

ExoRoboWalker (2019) [220]

Hip/knee/ankle

6

DC motors

Physical therapy

Passive

 

CP

Yes

Prototype

Indian Institute of Technology Guwahati (2020) [49]

Hip/knee/ankle

6

DC motors

Physical therapy

Passive

 

Physical disabled

Yes

Prototype

Instituto Politécnico Nacional (2020) [221]

Hip/knee/ankle

6

DC motors

Physical therapy

Assistive

EMG

Physical disabled

Yes

Prototype