This paper presents a survey of existing robotic systems for lower-limb rehabilitation. It is a general assumption that robotics will play an important role in therapy activities within rehabilitation treatment. In the last decade, the interest in the field has grown exponentially mainly due to the initial success of the early systems and the growing demand caused by increasing numbers of stroke patients and their associate rehabilitation costs. As a result, robot therapy systems have been developed worldwide for training of both the upper and lower extremities. This work reviews all current robotic systems to date for lower-limb rehabilitation, as well as main clinical tests performed with them, with the aim of showing a clear starting point in the field. It also remarks some challenges that current systems still have to meet in order to obtain a broad clinical and market acceptance.

In hypercholesterolemic men, diets low in fat (especially saturated fat) and diets rich in monounsaturated fats improve endothelial function.

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A comprehensive state of the art is presented, showing that spinal robotic surgery is still at an early stage of development but with great potential for improvement.

The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM). Downloaded From: http://computingengineering.asmedigitalcollection.asme.org/ on 06/16/2015 Terms of Use: http://asme.org/terms 011005-2 / Vol. 9, MARCH 2009 Transactions of the ASME Downloaded From: http://computingengineering.asmedigitalcollection.asme.org/ on 06/16/2015 Terms of Use: http://asme.org/terms

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