Table 2 Overview of lower limb exoskeletons
From: A Review on Lower Limb Rehabilitation Exoskeleton Robots
Human | Treadmill-based exoskeletons | Overground exoskeletons | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
Part/joint | Degree of freedom | Lokomat | LOPES | ALEX III | eLEGS | Indergo | Rewalk | Rex | Mindwalker | HAL |
Pelvis | Superior/inferior | Passive | Passive | Passive | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ |
Lateral | Passive | Actuated | Passive | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Anterior/posterior | Passive | ‒ | Passive | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Obliquity | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Tilt | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Vertical rotation | Passive | ‒ | Passive | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Hip | Flexion/extension | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated |
Adduction/abduction | ‒ | Actuated | Actuated | Passive | Passive | Passive | Passive | Passive | ‒ | |
Internal/external rotation | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | Passive | ‒ | ‒ | |
Knee | Flexion/extension | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated | Actuated |
Ankle | Dorsiflexion/plantarflexion | Passive | ‒ | Actuated | Passive | Passive | Passive | Actuated | Passive | Passive |
Adduction/abduction | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | Passive | ‒ | ‒ | |
Internal/external rotation | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | ‒ | |
Actuation | ‒ | Electric | Cable-driven SEA | Electric | Electric | Electric | Electric | SEA | Electric | Electric |