Robotic-assisted rehabilitation is currently being applied to improve the effectiveness of human gait rehabilitation and recover the mobility and strength after a stroke or spinal cord injury; a robotic assistant can allow the active participation of the patient and the supervision of the collected data and decrease the labor required from therapists during the patient’s training exercises. The goal of gait rehabilitation with robotic-based assistance is to restore motor function by using diverse control strategies, taking account of the physical interaction with the lower limbs of the patient. Over the last few years, researchers have extracted useful information from the patient’s biological signals that can effectively reflect movement intention and muscle activation. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype shown in the following work allows the device’s performance to be evaluated in a controlled environment before the patient’s use. New features provide a control system that can be teleoperated for distributed structures, enabling the remote operation and management of the device. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model that introduces a medical isokinetic rehabilitation protocol is presented, in which the element that carries out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user—specifically, the patient’s legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment.

Physical rehabilitation aims to help people recover their mobility and strength after an injury or illness. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype allows the performance of the device to be evaluated in a controlled environment prior to use by the patient. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and achieve the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model is presented that introduces a medical isokinetic rehabilitation protocol, where the element that allows carrying out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user, specifically the patient's legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment.

Debido a la inestabilidad inherente de los robots bípedos, existen diferentes técnicas para controlarlos. El objetivo de este trabajo es presentar una revisión descriptiva de algunas técnicas de control para el equilibrio estático y dinámico y algoritmos para la generación de patrones de marcha desarrolladas en la robótica bípeda. El artículo también contiene una breve terminología de la locomoción bípeda. Las técnicas de control descritas se basan en la teoría de control a partir de modelos dinámicos de los robots bípedos.

Context: Robot-assisted gait rehabilitation is a rapidly evolving field that aims to enhance therapeutic outcomes through the integration of advanced robotic systems. These systems reduce the physical burden on therapists while enabling intensive and repetitive patient training. However, current methods often require manual adjustments tailored to individual gait patterns, limiting their generalizability and efficiency. Objective: This paper provides a comprehensive review of control approaches for robot-based gait rehabilitation and locomotion assistance, focusing on improving adaptability and human-robot synchronization. The goal is to identify effective techniques and methods that optimize exoskeleton performance and improve patient outcomes. Methodology: A state-of-the-art review was conducted through a structured literature search across multiple scientific databases to identify research on lower-limb exoskeletons, centering on control strategies for robot-assisted gait rehabilitation. The search initially employed broad keywords such as “lower limb exoskeletons,” “extremity lower exoskeletons,” and “lower limb robotic exoskeletons,” among others. It was then refined using more specific terms including “lower limb exoskeleton control,” “assisted gait control,” “assistance control strategy,” “wearable robots control,” and “robotic rehabilitation,” among others. Well-defined inclusion criteria ensured thematic relevance, methodological rigor, and comprehensive coverage of recent advancements. A total of 77 studies meeting these criteria were analyzed to identify and categorize control approaches, and to discuss their scope, advantages, and limitations rather than directly assessing their clinical effectiveness or patient outcome improvements. Future research should focus on data-driven control methods to address individual variability and improve exoskeleton adaptability. Results: The review highlights a taxonomy of essential control strategies for robot-assisted gait, such as trajectory tracking based on position, force-impedance control, control driven by bio-signals, and adaptive control techniques. Real-time adaptive strategies, such as Velocity Field Control and Assist-As-Needed approaches, demonstrate strong potential for improving synchronization and reducing manual tuning requirements. Conclusions: Adaptive control strategies, particularly Assist-As-Needed controllers, are effective in encouraging active patient participation and optimizing rehabilitation outcomes. Financing: This research work received funding from Universidad del Valle under the project "Plataforma tecnológica modular para la valoración objetiva de la marcha humana" (C.I. 21259) and from the Ministry of Science, Technology, and Innovation (Minciencias - Open call 647).

Introduction: Rehabilitation engineering for human gait is a rapidly growing field that automates therapeutic interventions, reducing the physical effort required from therapists. This allows therapists to focus on applying clinical protocols for physical training and motor re-learning. The assisted robotic rehabilitation systems also enable the assessment of motor recovery by measuring key parameters such as force patterns, interaction dynamics, and angular movements. Objective: The objective of this study is to provide a descriptive review of robotic platforms designed for the rehabilitation and assistance of human gait. Methods: Given the rapid advancements in exoskeleton technology, particular emphasis was placed on incorporating the most recent studies. However, due to the topic's complexity, a broader research timeframe, spanning the last 14 years, was also considered. The review followed a comprehensive search strategy across multiple databases, including Springer Nature, Google Scholar, IEEE/ASME, Sage, Scopus, Taylor & Francis, MDPI, Frontiers, Elsevier, ResearchGate, ScienceDirect, and John Wiley & Sons, aiming to identify all relevant technologies related to lower limb exoskeletons. Results: Rehabilitation and assistance robotics is a multidisciplinary field, covering areas such as biomechanics, human-machine interaction, control strategies, actuator design, and sensor integration. This study contributes a classification table that summarizes the most representative rehabilitation robotic platforms, highlighting their features and differences using comparative variables. Conclusion: The descriptive analysis shows that overground gait trainers are the most advanced and widely used systems in rehabilitation robotics, emphasizing their effectiveness in meeting the complex needs of gait rehabilitation, making them a critical focus for future research.