Fig. 1From: The effect of pelvic movements of a gait training system for stroke patients: a single blind, randomized, parallel studya Designed Healbot T. Healbot T consists of a lower limb exoskeleton robot with 9 active DoF and 1 passive DoF, a BWS system, a gravity compensator, and foot plates. b Schematics of Healbot T, which has 9 active joints and 1 passive joint for vertical displacementBack to article page