Fig. 4

Standard display of commercial joint torque biofeedback (Rb) implemented in the Lokomat for gait training. BFB values are available for the right and left hip and knee joints as well as for stance and swing phases. Each point represents the BFB value of one stride. Data are displayed in a line diagram, which is updated for each stride and torque values are displayed in independent subplots for each one of the four joints. Swing and stance phase are color-coded. In this Figure a positive feedback is provided for all joints, especially for the knees, during stance phase indicating that the patient actively moves joints according to the reference trajectories, while during the swing phase, particularly for the hips, patient dos not contribute to the walking movement than the robot has to exert torque in order to maintain the desired reference trajectory