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Table 3 Suitability of different types of rehabilitation robots for assessment of balance in stroke patients. Classification is based on a robots’ potential ability to provide balance assessments and deliver perturbations to balance

From: Robot-supported assessment of balance in standing and walking

Example robotic devices

Type of assessment Suitability

Type of perturbation Suitability

Quantitative measurements Suitability

Severely affected patients

Balance assessment in standing

Balance assessment in walking

Moving ground

Horizontal Pushes

Joint

Embedded sensors

Wearable sensors

External sensors

Perturbation platform (SFP)

−/+a

+

+

GRF

SK

GRF

BK

BK

SK

Robotic pusher devices (CFT)

+

+

+

+

CIF

CK

GRF

BK

GRF

BK

CK

Active Body Weight Support systems (CFT/CFP/CFO/CMO)

+

+

+

+

CIF

CK

GRF

BK

GRF

BK

CK

Robotic BWS systems typically provide AAN, but can be combined with other robotic devices for providing perturbations.

Mobile self-balancing platforms for balance training (SMP)

−/+a

+

+

GRF

SK

GRF

BK

GRF

BK

SK

Mobile robotic gait trainers (CMO)

+

+

+

+

CIF

CK

GRF

BK

GRF

BK

CK

Treadmill-mounted exoskeletons (DFT)

+

+

+

+

+

+

GRF

CK

(CIF)

GRF

BK

GRF

Mobile-platform-mounted exoskeletons (DMO)

+

+

+

+

+

CK

(CIF)

GRF

BK

GRF

Fully wearable exoskeletons, actuated orthoses, or exo-suits (CWO)

+

+

+

+

CK

CIF

GRF

BK

GRF

Actuated foot plates, or ‘end-effector foot-connected robots’ (SFP)

+

+

+

+

CK

CIF

(CIF)

BK

BK

  1. SK Surface Kinematics: Inclination or translation from the center of standing surface (position, speed, acceleration), BK Body Kinematics: COM/Sacrum, configuration of a segmental representation of the body (position, speed, acceleration), CK Connection point (s) kinematics: Points where the robotic device is connected to the body (position, speed, acceleration), CIF Connection point (s) Interaction Forces: Points where the robotic device is connected (6D, 3D, 1D force or pressure distribution), GRF, Ground Reaction Forces: Contact between foot and standing surface (6D-, 3D-, 1D–force or pressure distribution)
  2. a Depending on exact configuration
  3. - unsuitable; + suitable