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Table 3 Description of devices used in the selected literature

From: Effect of exoskeleton-assisted Body Weight-Supported Treadmill Training on gait function for patients with chronic stroke: a scoping review

Studies and exoskeletons

Design

Type of actuator

Assist joint

Device description

Lokomat [35, 36, 38,39,40,41, 44] (Hocoma AG, Switzerland)

Bilateral

Electric Actuation [50] (DC motor)

Hip and knee (ankle passive)

System consisting of a robotic lower-extremity orthosis with:

••••A dynamic body weight support system that supports vertical/lateral centre-of-gravity movement

••••Pelvic position is fixed

••••Adjustable level of assist, gait speed, and guidance force (from 100 to 0%)

••••Computer-regulated motors for individual joints

••••Synchronised treadmill and visual feedback utilities

Walkbot [37] (P&S Mechanics, South Korea)

Bilateral

Electric Actuation [51] (DC brushless motor)

Hip, knee, and ankle

System consisting of a robotic lower-extremity orthosis with:

••••A dynamic body weight support system that supports vertical centre-of-gravity movement

••••Pelvic position is fixed

••••Synchronisation of the hip, knee, and ankle to assist patients in learning correct gait patterns, impedance control: patient's voluntary efforts are detected and patients are allowed to influence gait patterns during rehabilitation, automatic adjustment of leg length, motion analysis: kinetic and kinematic data reconstructed as a 3D image

••••Synchronised treadmill

RoboGait [45] (Bama Technology, Turkey)

Bilateral

Electric Actuation [52] (Linear motor)

Hip and knee

System consisting of a robotic lower-extremity orthosis with:

••••Body weight supported system and pelvic position is fixed

••••Eight force sensors measuring in pairs in each joint and four force sensor amplifiers

••••Synchronised treadmill and biofeedback utilities

GEAR system/Welwalk [42, 43] (Toyota Motor Corporation, Japan)

Unilateral

Electric Actuation [53]

Knee

System consisting of a robotic lower-extremity orthosis with:

••••Body weight supported system

••••Gait phase is calculated using data from the pressure sensor

••••Adjustable level of assist, gait speed, and guidance force (from 100 to 0%)

••••Real-time feedback system for gait characteristics on the monitor screen

••••Recording of quantitative data during intervention with biofeedback system