Table 1.

Novel protocol for LT-RGO with the Lokomat

Weeks	Body Weight Support	Time	Speed	Guidance Force*
1 (sessions 1–3)	40–50%	Targeted goal: 20–40 minutes per session	Initially at most comfortable speed, followed by progressive, rapid decrease to a speed slow enough to allow subject to initiate movement, thereby increasing engagement with the task and appropriate attentional demands.	Maximal decrease in percentage (so robotic exoskeleton provides least assistance possible) while maintaining a gait pattern within normal limits
2 (sessions 4–6)	40%
3 (sessions 7–9)	30%
4 (sessions 10–12)	20%

^*Guidance force is defined as the torque produced by the hip and knee actuators of the Lokomat. The ability to adjust this torque allows the robotic assist legs to provide varied amounts of assistance, measured in percentages from 0–100% (from no assist to stiff servo system (high amount of holding torque to maintain positions accurately), respectively).