Fig. 1

Overview of telerobotics locomotor rehabilitation approach. a A patient walks on a treadmill with a large robot arm connected to their right lower leg using a magnetic attachment. Meanwhile, a human trainer holds a small robot manipulandum, which shadows the scaled-down motion of the large robot arm and allows the trainer to feel and manipulate the patient’s gait in real-time (i.e., teleoperation). b A close-up view of the magnetic attachment (detached for clarity). c A visual display is provided to the trainer, which shows the patient’s gait kinematics and task-related overlays (e.g., gait target, force magnitudes, etc.). The white and green vertical lines show the actual and target swing lengths, respectively. The white arrow shows the trainer’s applied force