Fig. 1

Exoskeletal robot and kinematic signals obtained from the joint angle sensors for the hip and knee. (A) Exoskeletal robot used for gait training. The pad is used to adjust the knee joint strength assistance parameters and signal recording. During the gait data recording session, the trainer holds the pad and connects it to the exoskeletal robot via a cable, walking together with the patient. (B) Three gait cycles of hip and knee joint angles during walking before an intervention session, recorded without power support (free mode). Kinematic data of bilateral hip and knee joints (colored orange on the affected side, blue on the unaffected side) as a function of the walking time. The data were obtained from a sample patient at three time points during the course of ERGT: the baseline, midterm, and final assessments