A framework for clinical utilization of robotic exoskeletons in rehabilitation

Table 1 Comparison of FDA Approved Exoskeleton Devices. Summary of current devices in marketplace with difference in joints controlled, location and type of support provided, resistance or assistance capabilities, method of stepping actuation, and minimum walking function required

	Joints Powered	Level of Support	Assistance	Resistance	Feedback	Stepping Actuation
Rewalk	Hip and Knee	Full Trunk, B LE, stance and swing	FP	No	None	Watch + Trunk Motion
Ekso	Hip and Knee	Full Trunk, B LE, stance and swing	FP to PA	Yes, swing phase	Auditory, visual tactile, spatiotemporal	Therapist trigger, weight shift, or free stepping
Indego	Hip and Knee	Lower lumbar, B LE, stance and swing	FP to PA	No	Auditory, Tactile, spatiotemporal	Forward trunk lean or free stepping
HAL for medical use	Hip and Knee	Lumbar, B LE, stance and swing	FP to PA	No	Auditory, visual, tactile, Spatiotemporal	Through bioelectric surface EMG on leg muscles
Honda WAD	Hip	B LE, swing	PA – user must be ambulatory	Yes	None	Detects and assists in free stepping
B-Temia Keeogo+	Knee	B LE, stance and swing	PA – user must be ambulatory	No	None	Detects and assists in free stepping
Rewalk Restore	Ankle	U LE, swing and propulsion	PA – user must be ambulatory	No	Visual, Spatiotemporal	Detects and assists in free stepping

ISSN: 1743-0003