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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: A robot-based gait training therapy for pediatric population with cerebral palsy: goal setting, proposal and preliminary clinical implementation

Fig. 1

CPWalker robotic platform (exoskeleton to guide the patients’ lower limbs and walker with PBWS to provide balance control during over-ground walking). The wide variety of operating modes comprehends from “robot in charge” to “patient in charge” states: i) position control mode; ii) high impedance control mode; iii) medium impedance control mode; iv) low impedance control mode; v) zero-force control mode

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