Table 3.
Description of devices used in the selected literature
| Studies and exoskeletons | Design | Type of actuator | Assist joint | Device description |
|---|---|---|---|---|
| Lokomat [35, 36, 38–41, 44] (Hocoma AG, Switzerland) | Bilateral | Electric Actuation [50] (DC motor) | Hip and knee (ankle passive) |
System consisting of a robotic lower-extremity orthosis with: ••••A dynamic body weight support system that supports vertical/lateral centre-of-gravity movement ••••Pelvic position is fixed ••••Adjustable level of assist, gait speed, and guidance force (from 100 to 0%) ••••Computer-regulated motors for individual joints ••••Synchronised treadmill and visual feedback utilities |
| Walkbot [37] (P&S Mechanics, South Korea) | Bilateral | Electric Actuation [51] (DC brushless motor) | Hip, knee, and ankle |
System consisting of a robotic lower-extremity orthosis with: ••••A dynamic body weight support system that supports vertical centre-of-gravity movement ••••Pelvic position is fixed ••••Synchronisation of the hip, knee, and ankle to assist patients in learning correct gait patterns, impedance control: patient's voluntary efforts are detected and patients are allowed to influence gait patterns during rehabilitation, automatic adjustment of leg length, motion analysis: kinetic and kinematic data reconstructed as a 3D image ••••Synchronised treadmill |
| RoboGait [45] (Bama Technology, Turkey) | Bilateral | Electric Actuation [52] (Linear motor) | Hip and knee |
System consisting of a robotic lower-extremity orthosis with: ••••Body weight supported system and pelvic position is fixed ••••Eight force sensors measuring in pairs in each joint and four force sensor amplifiers ••••Synchronised treadmill and biofeedback utilities |
| GEAR system/Welwalk [42, 43] (Toyota Motor Corporation, Japan) | Unilateral | Electric Actuation [53] | Knee |
System consisting of a robotic lower-extremity orthosis with: ••••Body weight supported system ••••Gait phase is calculated using data from the pressure sensor ••••Adjustable level of assist, gait speed, and guidance force (from 100 to 0%) ••••Real-time feedback system for gait characteristics on the monitor screen ••••Recording of quantitative data during intervention with biofeedback system |