Stroke affects one out of every six people on Earth. Approximately 90% of stroke survivors have some functional disability with mobility being a major impairment, which not only affects important daily activities but also increases the likelihood of falling. Originally intended to supplement traditional post-stroke gait rehabilitation, robotic systems have gained remarkable attention in recent years as a tool to decrease the strain on physical therapists while increasing the precision and repeatability of the therapy. While some of the current methods for robot-assisted rehabilitation have had many positive and promising outcomes, there is moderate evidence of improvement in walking and motor recovery using robotic devices compared to traditional practice. In order to better understand how and where robot-assisted rehabilitation has been effective, it is imperative to identify the main schools of thought that have prevailed. This review intends to observe those perspectives through three different lenses: the goal and type of interaction, the physical implementation, and the sensorimotor pathways targeted by robotic devices. The ways that researchers approach the problem of restoring gait function are grouped together in an intuitive way. Seeing robot-assisted rehabilitation in this unique light can naturally provoke the development of new directions to potentially fill the current research gaps and eventually discover more effective ways to provide therapy. In particular, the idea of utilizing the human inter-limb coordination mechanisms is brought up as an especially promising area for rehabilitation and is extensively discussed.

地球上每六个人中就有一个患有中风。大约 90% 的中风幸存者有一定的功能障碍，其中行动能力是主要障碍，这不仅影响重要的日常活动，而且增加跌倒的可能性。机器人系统最初旨在补充传统的中风后步态康复，近年来作为一种减少物理治疗师压力、同时提高治疗精度和可重复性的工具而受到了广泛关注。虽然目前的一些机器人辅助康复方法已经取得了许多积极和有希望的结果，但有适度的证据表明，与传统做法相比，使用机器人设备可以改善步行和运动恢复。为了更好地了解机器人辅助康复如何以及在何处有效，必须确定主要的思想流派那些已经占了上风。本综述旨在通过三个不同的视角来观察这些观点：交互的目标和类型、物理实现以及机器人设备针对的感觉运动路径。研究人员解决步态功能恢复问题的方法以直观的方式组合在一起。从这种独特的角度看待机器人辅助康复自然可以激发新方向的发展，从而有可能填补当前的研究空白，并最终发现更有效的治疗方法。特别是，利用人类肢体间协调机制的想法被认为是一个特别有前途的康复领域，并得到了广泛的讨论。