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Illustration of the 3D cable-driven robotic gait training system. Two motors and cable-spools were attached to a fixed frame located at the side of treadmill and were used to provide pelvis assistance force in the mediolateral direction, and two motors and cable-spools were attached to a fixed frame located at the front of the treadmill and were used to provide leg assistance force in the anterior-posterior direction. A PC was used to control the coordinated movement of four motors.
