Therapeutic Robotics: A Technology Push: Stroke rehabilitation is being aided by robots that guide movement of shoulders and elbows, wrists, hands, arms and ankles to significantly improve recovery of patients

Hermano Igo Krebs; Neville Hogan

doi:10.1109/JPROC.2006.880721

Fig. 7

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Anklebot kinematic comparison during treadmill training with asymmetric loading due to the ankle prototype with unimpaired subject. The left column shows plantar-dorsiflexion (deg), the middle columns shows inversion-eversion (deg), and the right column shows knee angle (deg). The top row shows an unimpaired subject walking in the device (teach mode) and the bottom row shows data from another unimpaired subject during training (playback mode). The teach mode reference gait is wrapped-around, which allows to extend the duration of training as needed.