Article

Robot-assisted physical gait therapy is gaining recognition among the
rehabilitation engineering community. Several robotic orthoses for the treatment
of gait impairments have been developed during the last 2 decades, many of which
are designed to provide physical therapy to a single joint of the lower limb;
these are reviewed here. The mechanism design and actuation concepts for these
single joint robotic orthoses are discussed. The control algorithms developed for
these robotic orthoses, which include trajectory tracking control and
assist-as-needed control, are described. Finally, the mechanism design and
control of single joint robotic orthoses are discussed. There is a strong need to
develop assist-as-needed control algorithms and to perform clinical evaluation of
these robotic orthoses in order to establish their therapeutic efficacy.

Langue : ANGLAIS