Figure 1.

Concept of pelvic obliquity support robot. The red square represents the two scissor mechanisms located on each side of the patient. The scissor mechanisms support the pelvic frontal plane motion of the patient. The blue square represents the mobile-type robot. The drive wheel provides the system with mobility, thus allowing patients to undergo overground gait rehabilitation. The yellow square represents the lower-limb exoskeleton robot. The exoskeleton robot assists the hip and knee flexion/extension motion on the sagittal plane. The pelvic support robot and exoskeleton robot are integrated, and this integration facilitates patients with multiple degrees-of-freedom movement during gait rehabilitation.