Assist-as-Needed Rehab Exoskeleton

Assistance Mode

Fixed torque level 65%

Session speed 1.0×

Live Readouts

Robot assistance

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Patient effort

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Session progress

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Trial

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Effort vs. Assistance

Patient effort % Robot assistance %

Recovery Progress Score

Fixed assistance

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run a session

Assist-as-needed

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run a session

How it works

Each reach requires a fixed amount of total torque, split between the exoskeleton and the patient's own muscles. In fixed-assistance mode the robot always contributes the same slider-set torque, so the patient only ever has to supply the leftover — that leftover never grows, no matter how strong the patient becomes, because the controller never asks for more.

robot = fixedLevel                 (constant)
patient = 1 − fixedLevel           (flat, never challenged)

In assist-as-needed mode the controller measures the patient's current strength every trial and fills only the gap:

robot(t)   = max(0, 1 − strength(t))
patient(t) = min(1, strength(t))
Δstrength ∝ effort(t) · (1 − strength(t))   per trial

Because effort itself drives the strength gain, AAN produces a self-reinforcing climb: patient effort rises while robot assistance falls, the two lines crossing once the patient supplies half the work. Fixed assistance keeps both lines flat, so little real neuromuscular re-learning happens even though the movement still "succeeds" every time.

Fixed torque level — the constant assistance a fixed-mode robot applies regardless of patient performance.
Session speed — how fast simulated training trials play out.
Recovery progress score — total strength gained (session end − session start) in each mode, once you've run both.

Fixed-assistance session — press Start

Exoskeleton actuator torque Patient muscle drive Reach target

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