Table 1 Control framework for rehabilitation exercises [28, 60]
From: State of the art in parallel ankle rehabilitation robot: a systematic review
Class of exercise | Exercise mode (patient) | Control algorithms |
|---|---|---|
ROM | Passive | Position control |
Active | Assistive control | |
Strength training | Active (isometric) | Position control |
Active (isotonic) | Admittance control | |
Proprioceptive training | Active | Hybrid control |