The application of robotic devices in providing physiotherapies to post-stroke patients and people suffering from incomplete spinal cord injuries is rapidly expanding. It is crucial to provide valid rehabilitation for people who are experiencing abnormality in their gait performance; therefore, design and development of newer robotic devices for the purpose of facilitating patients' recovery is being actively researched. In order to advance the traditional gait treatment among patients, exoskeletons and orthoses were introduced over the last two decades. This article presents a thorough review of existing robotic gait rehabilitation devices. The latest advancements in the mechanical design, types of control and actuation are also covered. The study comprehends discussions on robotic rehabilitation devices developed both for the training on treadmill and over-ground training. The assist-as-needed strategy for the gait training is particularly emphasized while reviewing various control strategies applied to these robotic devices. This study further reviews experimental investigations and clinical assessments of different control strategies and mechanism designs of robotic gait rehabilitation devices using experimental and clinical trials.

中文翻译：

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步态康复机器人矫形器：机械设计和控制策略的概述。

机器人设备在为中风后患者和脊髓不完全损伤患者提供理疗方面的应用正在迅速扩大。为步态异常的人提供有效的康复至关重要。因此，正在积极地研究和设计用于促进患者康复的新型机器人设备。为了在患者中推进传统的步态治疗，近二十年来引入了外骨骼和矫形器。本文全面介绍了现有的机器人步态康复设备。还介绍了机械设计，控制和致动类型的最新进展。该研究涵盖了针对跑步机训练和地面训练开发的机器人康复设备的讨论。在审查应用于这些机器人设备的各种控制策略时，尤其要强调步态训练的辅助策略。本研究通过实验和临床试验进一步回顾了机器人步态康复设备的不同控制策略和机制设计的实验研究和临床评估。