Figure 3From: Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patientsThree-dimensional sketch of the motion mechanism of the gait robot. The components are numbered as follows: 1. principal drive, 2. relative drive, 3. drive for the foot angle, 4. principal sledge, 5. relative sledge, 6. linear guide, 7. screw axle.Back to article page