Fig. 1From: A robot-based gait training therapy for pediatric population with cerebral palsy: goal setting, proposal and preliminary clinical implementationCPWalker 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 modeBack to article page