Fig. 2

Robotic assistance at the different modes produced by ReoGo for voluntary movement. Guided mode: fully dependent on robotic assistance to complete training. Initiated mode: requires voluntary movement only at the beginning of training; for the remainder of the training, full dependence on robotic assistance is required. Step-initiated mode: requires only a few voluntary movement and robot-dependent movement alternately to complete the training. Follow-assist mode: required above a certain level of voluntary movement in training while receiving low level of robotic assistance continuously. Free mode: uses voluntary movement to complete the training without the requirement of robotic assistance