A Hybrid Assistive-Resistive Isokinetic Training Robot for Full-cycle Knee Rehabilitation.

Previously, we proposed a power-free isokinetic training robot designed to provide resistive isokinetic training for knee injury patients during advanced-stage rehabilitation. However, patients in the early stage often lack sufficient muscle strength and necessitate assistive support. To address this limitation, this study introduces a hybrid assistive-resistive isokinetic training robot that integrates active assistance for early-stage knee rehabilitation and power-free resistive training for advanced stages. The system features a compact mechanical design and a reconfigurable control circuit capable of dynamically switching among three modes: active, passive (regeneration), and passive (consumption). Ten healthy subjects and ten knee-injury patients participated in the experimental validation. The results confirmed the adaptability of the system across multiple rehabilitation stages. These findings demonstrate the feasibility of the hybrid assistive-resistive isokinetic training robot and highlight the potential of the system for both clinical application and home-based rehabilitation. Future work will focus on extending the system to multi-joint training and enhancing control algorithms for broader patient populations.