Gait training has been proved effective for recovery of walking ability for nerve injury patients caused by stroke, spinal cord injury(SCI), traumatic brain injury(TBI), etc. The traditional gait training methods, usually carried out by hand, are laborious and time-consuming, and hence, the
training intensity is difficult to be maintained and the rehabilitation results are not satisfactory. To overcome the limitation, lower limb rehabilitation robots (LLRRs) have been developed for clinical
gait training, the typical ones of which including Lokomat, ReoAmbulator, Rewalk, etc