Fig. 2

Flowchart detailing operation of the telerobotics system. A large robotic arm is magnetically attached to a patient’s leg. The motion of the patient’s leg is measured using the robotic arm’s sensors. A scaled-down version of the patient’s motion is haptically rendered using a small robotic manipulandum, which is held by a human trainer. The trainer can provide assistance (or resistance) in real-time by deflecting the manipulandum at an appropriate point in the gait cycle; the amount of force transmitted is proportional to the deflection (within limits)