Musical stimulation can activate specific brain regions and modulate neural functions, whereas optical and magnetic stimulation technologies enable precise neuronal manipulation. However, traditional neural stimulation approaches mostly adopt a single mode, and research on their combined regulatory effects is still limited. Light-magnetic combined stimulation (LMCS), as an emerging multi-modal physical neural modulation technique, has demonstrated unique advantages in regulating neural activity and synaptic plasticity and holds significant potential for application in the fields of cognitive enhancement and neural rehabilitation. This study innovatively combines two physical stimulation modalities-light and magnetic fields-using musical signals as the modulation source to explore their synergistic effects on synaptic plasticity in the hippocampal Schaffer collateral-CA1 region of rats. We designed a high spatial resolution light-magnetic stimulation system; utilizing this system, invitro brain slice experiments were conducted, applying single-light, single-magnetic, and combined light-magnetic stimulation respectively. Changes in long-term potentiation (LTP) and long-term depression (LTD) were recorded. The experimental results showed that the combined light-magnetic stimulation, when synchronized with specific musical rhythms, exhibited the optimal regulatory effects on both LTP and LTD, outperforming single stimulation modes. This study verified the effectiveness of light-magnetic combined stimulation based on music rhythm in regulating LTP/LTD and provided design parameters and experimental basis for the development of the equipment.

The article is devoted to the analysis of public-private-philanthropic partnership and the improvement of the regulatory and legal regulation of its activities, to create a regulatory basis for attracting charitable funds to socially important investment projects, in particular, regarding rehabilitation, reintegration, preservation and restoration of human capital. The study focuses on the analysis of the current state of the private medical services market in Ukraine and existing cases of involving charitable partners in investment projects in the field of rehabilitation. The preference for the development of public-private-philanthropic partnerships is justified, as opposed to classic public-private partnerships, which are associated with the social significance of rehabilitation problems and insufficient funding. It was found that the activities of rehabilitation centers with the support of charitable partners are aimed not only at the quantity, but also at the quality of rehabilitation, orientation to the best international practices and advanced training of medical personnel. Therefore, such an investment approach is relevant especially in times of unstable economy and social challenges. The purpose of the article is to summarize the practical experience of creating and operating rehabilitation centers on the principles of public-private-philanthropic partnership in Ukraine, and to develop recommendations for improving the regulatory and legal framework to create a favorable legislative framework for the implementation of this model. It was found that today the regulatory and legal framework does not regulate the activities of such partnerships, as they are new to Ukrainian practice and are a response to the challenges of Ukrainian realities. Therefore, the proposals provided for improving the regulatory and legal framework are designed to provide a legislative basis for the development of this investment model. This will allow scaling up successful projects and will contribute to increasing the role of the charitable sector in areas related to the humanitarian dimension, such as: rehabilitation, reintegration, preservation and restoration of human capital. The novelty of the study lies in the attempt to adapt existing regulatory documents to the activities of these partnerships, because despite the lack of special regulatory and legal regulation, partnerships of this type already exist in Ukraine and are innovative. The article uses general scientific and special research methods: case study method, comparative analysis and logical generalization. Their application allowed us to widely explore the issues of the development of public-private-philanthropic partnerships, and to identify their advantages over classical public-private partnerships. Since Ukraine already has successful experience in the functioning of public-private-philanthropic partnerships in the field of rehabilitation, further scaling up of this practice requires the identification of criteria by which institutional support for sanatorium-resort and rehabilitation institutions should be carried out within the framework of this investment model. Therefore, the proposed criteria are designed to intensify the attraction of funds from the charitable partner in those areas that require optimization of the costs of the private partner and the state.

This special communications piece responds to previous calls from the field of physical medicine and rehabilitation to incorporate methodological diversity in our work, specifically community-based participatory research (CBPR). Our team reports on our CBPR efforts and use of Human-Centered Design (HCD) within the context of executing a multidisciplinary Department of Defense-funded award on improving access to care for those with traumatic brain injury (TBI). First, we situate the context for our program, "Improving Health Care Access and Engagement for Veterans and Service Members with TBI Morbidity". Second, we review the use of CBPR and HCD methods to interact with project partners, including persons with lived-experience, professional society representatives, clinicians, and policymakers. Third, we conclude with practical recommendations to support CBPR and HCD efforts in this context. Given the complexity of eliciting and understanding community perspectives across lived experiences (eg, patients, clinicians, care partners), the primary contributions of this piece are: (1) the provision of exemplar adaptive HCD activities; and (2) the identification of practices that foster both HCD and CBPR, and (3) strengthen community partnerships and authentic engagement through a tailored approach, specifically with persons with TBI lived experience.

Effects of Rehabilitation Robot Training on Cognitive Function in Stroke Patients: A Meta-Analysis.

This article examines various aspects of networks and cooperation in the field of vocational rehabilitation as quality characteristics. Four different research projects were used for the study. Statements on the experience of cooperation between rehabilitation patients, rehabilitation specialists, and rehabilitation counsellors were generated from the qualitative material of three studies. These were supplemented by a quantitative evaluation of the frequency of contact between social workers and service providers of vocational rehabilitation. Obstacles and facilitating factors were identified at three levels, from which concrete suggestions for quality improvement were derived. The three levels comprised the counselling dyad, the team and stakeholder level, and the extended organisational level. The institutions examined demonstrate well-developed networks and cooperation from an intra-organisational perspective. The potential of good networking and cooperation to improve quality within the rehabilitation system has not yet been fully exploited. There is a clear need for further development in inter-organisational cooperation between service providers and the health and social system.

BackgroundAdolescent idiopathic scoliosis (AIS) is a three-dimensional spinal deformity that progresses with age, making effective early intervention crucial to avoid surgical treatment. Traditional Chinese Medicine (TCM) Manual therapy (MT) offers the advantage of relaxing muscles and correcting biomechanical imbalances, thereby assisting patients in performing postural correction exercises under proper biomechanical alignment. However, evidence supporting the use of TCMMT for AIS remains limited.ObjectiveThis study aims to elucidate the biomechanical changes in AIS patients by comparing with healthy individuals, and investigate the clinical efficacy and biomechanical mechanisms of combining TCMMT with Schroth method in the treatment of AIS.MethodsThis study is a randomized controlled trial. Sixty eligible AIS patients will be randomly allocated in a 1:1 ratio to either the experimental group (EG) or the control group. All patients will undergo Schroth method for 60 min, five times per week. The EG will additionally receive TCMMT for 20 min, three times per week. The treatment course will be 8 weeks. Furthermore, fifteen age-matched healthy volunteers will be included. The primary outcome measure is the Cobb angle assessed before and after treatment. Secondary outcome measures include plantar pressure and 3D gait parameters, surface electromyography and muscular temperature. Adverse events will be recorded throughout the trial. All patients randomly allocated in this study will be included in the intention-to-treat analysis.ConclusionThis study will provide multi-dimensional evidence for the efficacy of TCMMT as an adjunctive treatment for AIS, advance the development of manual therapy within the field of rehabilitation, and facilitate its application in clinical decision which making by both physicians and patients.Study protocol registrationhttp://itmctr.ccebtcm.org.cn, identifier ITMCTR2025002392.

Dancers sustain lower limb musculoskeletal injuries at rates exceeding most other athletic populations, yet few rehabilitation protocols account for the constraints specific to dancer populations - concern over altered body aesthetics from hypertrophy, narrow recovery windows imposed by performance schedules, and poor tolerance of heavy loading in early post-surgical phases. Blood flow restriction (BFR) training produces muscular adaptations at loads as low as 20-30% of one-repetition maximum, a profile that could address each of these constraints. This scoping review mapped the available evidence on BFR training for lower limb injury prevention and rehabilitation and assessed its applicability to dancer populations. The review followed the PRISMA extension for scoping reviews (PRISMA-ScR) and the five-stage Arksey and O'Malley framework. Six databases were searched from January 2000 to the search closure date; citation tracking supplemented the electronic search. Findings were synthesized narratively and organized into an evidence gap map. Seventeen studies met inclusion criteria. Evidence concentrated heavily on post-anterior cruciate ligament reconstruction (ACLR) rehabilitation: across five studies in this domain, low-load BFR attenuated quadriceps atrophy, restored isokinetic strength to levels comparable with high-load protocols, and reduced self-reported pain - an effect at least partly mediated by endogenous opioid pathways. By contrast, only single studies addressed patellofemoral pain, tendon adaptation, and bone metabolism, while chronic ankle instability was examined in just two trials - the only studies in the entire sample that enrolled dance sport athletes. No study in any injury category employed dancer-specific outcome measures. Low-load BFR training shows clear potential as an adjunct during lower limb rehabilitation in clinical and athletic populations, particularly where early joint loading is contraindicated. Within the dance rehabilitation field specifically, however, direct trial evidence in dancer cohorts remains absent, and no dancer-relevant functional outcome measure, including return-to-stage readiness, aesthetic movement quality, or choreographic performance capacity, has been validated for BFR research. Dedicated trials in dancers and expert consensus on dance-specific outcome endpoints are the essential next steps for translating this evidence into practice.

Advancements in electrical stimulation technology, fabrication, and device design have led to the development of wearable bioelectrical stimulation devices, enabling rehabilitation in non-traditional settings. This scoping review evaluates the effectiveness of wearable bioelectrical stimulation devices for rehabilitation, providing an overview of the current state of clinical outcomes and prototype devices. A systematic search of MEDLINE was conducted on November 11, 2024, with additional relevant articles manually included. Studies were screened based on predefined inclusion and exclusion criteria. Out of 488 identified articles, 59 met the inclusion criteria. The categories represented were stroke (N=10), cerebral palsy (N=6), spinal cord injury (N=5), musculoskeletal (N=4), fibromyalgia (N=3), and peripheral neuropathy (N=3), in addition to other diagnoses (N=8), healthy participants (N=14), and non-clinically tested devices (N=6). Reported potential benefits of the devices included improvements in gait abnormalities, knee pain, low back pain, fibromyalgia, and bladder dysfunction, while outcomes in spasticity, neurological recovery, and circulatory augmentation remain inconclusive. Wearable bioelectrical stimulation devices have gained significant interest in the field of rehabilitation, with devices spanning many form factors to target a wide array of conditions. However, until further research provides clearer evidence, wearable bioelectrical stimulation devices should be considered an adjunct to established rehabilitation interventions.

Digital therapy applications offer great potential to improve the therapeutic care of patients with musculoskeletal complaints and contribute to maintaining their ability to work. The study summarizes the current status of studies on the use of digital therapy applications recognized by the pension insurance in the orthopaedic field of prevention, rehabilitation, and rehabilitation aftercare and describes their effectiveness. The review was designed as ascoping review. Quantitative outcome measures such as ability to work, health-related quality of life, or sports medicine assessments were extracted and reported. The characteristics of the studies included were compared in tabular form. Digital therapy programs were well accepted and proved to be comparably effective to traditional formats, with context-specific advantages for some outcome parameters. Digital therapies are an effective therapy format with flexibility in terms of location and time.

Prolonged sedentary behavior and slump sitting posture may impair neuromuscular function; however, acute effects on postural sway and potential differences between athletes and non-athletes remain unclear. Therefore, this study aims to examine the acute effects of prolonged slump sitting on postural sway in female athletes and non-athletes. In this study, 24 females (12 athletes, 12 non-athletes; age 18-30 years) completed balance assessments using the Biodex Balance System, followed by a 30-minute standardized slump sitting protocol. Outcomes included static postural stability test (PST), Modified Clinical Test of Sensory Interaction on Balance (mCTSIB), and limits of stability (LOS). Group differences were analyzed using analysis of covariance (ANCOVA). Prolonged slump sitting significantly influenced selected postural sway outcomes. Athletes demonstrated greater post-intervention sway compared with non-athletes in the Overall Stability Index (p = 0.01) and the eyes-closed firm-surface mCTSIB condition (p = 0.02). A significant group difference was also observed in static left LOS performance (p = 0.01). In a nutshell, the present study demonstrated that prolonged slump sitting may influence postural sway in female athletes and non-athletes, with specific differences emerging between groups under certain sensory and stability conditions. By highlighting the potential impact of slump sitting on postural stability, this research contributes to the fields of sports science, ergonomics, and rehabilitation, emphasizing the need for strategies that mitigate the negative effects of prolonged sedentary behavior.

At present, the skateboard protective equipment on the market has many shortcomings: on the one hand, most of the protective equipment are independently worn, which are separated from trousers, which is not only inconvenient to wear, but also easy to shift during exercise; On the other hand, the selection of cushioning materials and thickness design of existing protective devices lack scientific analysis and rely more on experience, or the movement flexibility is affected by the thick and hard materials, so the balance of protection, flexibility and comfort cannot be achieved. Based on this, this study focused on the pain points of knee injury protection in skateboarding, and carried out the design research of protective skateboarding pants. Firstly, the finite element model of knee joint under three typical fall conditions, kneeling, lateral and prone, was constructed based on the THUMS manikin, and the stress distribution characteristics of knee joint bones under different impact speeds were revealed. Secondly, the quantitative relationship model between material thickness and stress attenuation is established through finite element simulation, and the high energy absorbing material and its optimal thickness configuration are selected. The results show that EVA material has the best stress attenuation effect; 9-12 mm is the best thickness range for both protection and comfort. Finally, a kind of protective skateboard pants with detachable panda pattern protector was developed. This research not only has practicability, but also can promote the interdisciplinary and integration, and provide new ideas and methods for the research of other sports protection, medical rehabilitation and safety fields, especially in the field of protective and functional clothing, such as racing clothes and extreme sports clothes, which has application prospects and innovation value.

Introduction: Cardiovascular disease is a type of disease that affects the blood vessels and heart. The global movement from infectious diseases to chronic diseases is a global problem that will result in a decline in the life quality and a rise in the need for services such as rehabilitation services. This research aimed to evaluate healthcare services in patients with cardiovascular disease. Methods: 40 published articles between 1990 and 2025 were evaluated with key words including "Nursing Services", "Healthcare Services", and “Cardiovascular Problems” in MEDLINE (PubMed and Ovid), Web of Science, and Scopus databases. Results: The frequency of availability of complete medications and equipment related to cardiac patients in ambulances was 81% (ES: 81%, 95% CI; -1.05, 2.66). The patient's family in the field of rehabilitation and post-discharge care, along with the follow-up implementation of educational programs, increases the patient's quality of life and subsequently the quality of care by 91% (ES: 91%, 95% CI, 87%-95%). Conclusion: According to the present study's findings, fully equipping ambulances during patient transport, family-centred education, and general community awareness by health service systems can be highly effective in reducing cardiovascular problems.

The aging process of China's population is accelerating continuously, and falls among the elderly have become a core pain point in the fields of home-based elderly care and geriatric rehabilitation, with gait instability being the primary cause of falls. Traditional gait training equipment suffers from high costs, poor adaptability to home environments, and high feedback delays, making it difficult to meet the demand for inclusive elderly care. Focusing on the research and development of an intelligent gait training system for fall prevention in the elderly, this paper conducts a comprehensive review from the aspects of the correlation mechanism between falls and gait instability in the elderly, the research status of intelligent gait training equipment, the application of multimodal feedback technology in geriatric rehabilitation, and the hardware development based on flexible sensing and embedded technology. Integrating relevant research results retrievable from CNKI (China National Knowledge Infrastructure), it analyzes the current research hotspots and existing problems in this field, providing a reference for the research and development of low-cost, high-response and user-friendly home-based gait training equipment for fall prevention in the elderly. Meanwhile, it elaborates on the R&D value and application prospects of the intelligent gait training system based on multimodal feedback.

The Joel A. DeLisa Lecture on regenerative rehabilitation was presented by Dr. Thomas Rando on February 27, 2025, at the Association of Academic Physiatrists Annual Scientific Meeting. This article follows the key themes presented in that lecture, exploring the regenerative potential of exercise as a biophysical stimulus and focusing on its ability to modulate muscle stem cell (MuSC) function and enhance tissue repair following muscle injury. In aged mice, exercise restores youthful properties to MuSCs, thereby enhancing regenerative capacity that declines with age. In models of volumetric muscle loss (VML), exercise improves the engraftment and integration of transplanted MuSCs by promoting myogenesis, angiogenesis, and reinnervation. Additionally, exercise shifts systemic and local immune responses toward a pro-regenerative state, enhancing stem cell function across multiple tissues. Exercise acts as a potent, non-invasive regenerative intervention with direct effects on stem cell biology and tissue repair. These findings highlight the potential for integrating exercise-based rehabilitation with emerging biologic therapies in clinical practice, offering new strategies for improving recovery after injury. In this context, physiatrists and physical therapists will play a central role in the emerging field of regenerative rehabilitation.

Unilateral spatial neglect (USN) is one of the most common behavioral cognitive impairments after stroke, limiting functional activities and impairing daily life. Increasing evidence suggests that noninvasive brain stimulation (NIBS) holds a promising therapeutic potential in the field of post-stroke neglect rehabilitation, but its effect still needs to be systematically evaluated. The aim of this systematic review and meta-analysis was to assess the effect of NIBS for the treatment of USN after stroke and to examine the effect of moderating variables (e.g., stroke phase, protocol type) on the effect sizes of NIBS treatment. Systematically searched for randomized controlled trials (RCTs) or crossover RCTs on NIBS for the treatment of USN from four databases: PubMed, Embase, Web of Science and the Cochrane Library. The search period spanned from inception to May 1, 2025. Subgroup analysis was conducted based on the NIBS interventions (rTMS, TBS, tDCS and tACS). The primary outcomes included the line bisection test (LBT), star cancellation test (SCT), and catherine bergego scale (CBS). The results of 17 studies (425 patients) showed that different effects of various NIBS interventions (rTMS, TBS, tDCS and tACS) on USN outcomes: rTMS significantly reduced LBT (SMD = -1.82, P < 0.00001), SCT (SMD = -1.59, P < 0.00001), and CBS (MD = -2.76, P = 0.002); TBS significantly reduced SCT (SMD = -2.59, P = 0.03) and CBS (MD = -0.93, P < 0.0001); tDCS significantly reduced LBT (SMD = -0.60, P = 0.0009) and SCT (SMD = -0.60, P = 0.001); while tACS showed no significant difference compared to the control group in improving LBT (SMD = 0.04, P = 0.93) and SCT (SMD = -0.32, P = 0.49). Additionally, subgroup analyses showed that intervention timing and NIBS protocol type exerted moderating effects on treatment effect in USN patients. Intervention during the acute stroke phase may yield greater effect compared to those in the chronic phase (P < 0.00001). Excitatory NIBS protocols targeting the ipsilesional posterior parietal cortex (PPC) may yield greater therapeutic potential than inhibitory protocols applied to the contralesional PPC (P < 0.05). rTMS and TBS showed greater therapeutic potential than tDCS and tACS in reducing neglect severity and improving activities of daily living. In addition, modulating variables may potentially influence the therapeutic effect of NIBS intervention. Specifically, early intervention and excitatory NIBS protocols applied to the ipsilesional PPC for post-stroke USN patients may have greater therapeutic potential.

In response to the severe impact of work-related musculoskeletal disorders (WMSDs), this study proposes an advanced motion rehabilitation solution. By integrating inertial measurement unit (IMU) sensors and MediaPipe skeletal point technology, we aim to deliver personalized and precise motion assessment and rehabilitation guidance for WMSDs patients. Capturing and analyzing the shoulder and hip movements of 130 volunteers, we constructed a multimodal dataset with 30[Formula: see text]600 sets of data. A hybrid model combining one-dimensional convolutional neural networks (1D-CNN) and gated recurrent units (GRUs) was employed, achieving 97% accuracy in action recognition through dynamic dropout and L2 regularization. Additionally, an automatic scoring mechanism based on deep learning and Chinese limb motor function standards was introduced to enhance motion rehabilitation. The innovative application of multimodal fusion, deep learning scoring, and an efficient hybrid model not only improves scoring efficiency and consistency but also contributes new technologies and methods to the field of motion rehabilitation for WMSDs. Future work will focus on improving data collection and processing techniques, exploring new model structures and algorithms, and developing customized rehabilitation plans to meet individual needs.

Traditional psychotherapy mostly relies on drug intervention and physical therapy. However, with the transformation of the medical model and the deepening understanding of mental health, treatment methods are moving towards a more diversified and humanized direction. In recent years, animal-assisted therapy has been widely used in the field of emotional disorders and psychological rehabilitation as a therapeutic method. This article systematically reviews the intervention effects and potential influencing mechanisms of pet companionship and animal-assisted therapy in different populations. The focus is on its role in depression intervention, and it analyzes how different populations, through multi-dimensional interactive methods such as tactile stimulation (such as stroking the soft fur of pets), visual observation (such as observing the cute behaviors of animals), and responsible care (such as feeding, grooming pets), can effectively regulate human endocrine systems (such as promoting the secretion of dopamine and serotonin), improve negative cognition, and alleviate depressive mood and physical symptoms. At the same time, the analysis of special groups (women with postpartum depression) is supplemented.

Exercise training, delivered within a cardiac rehabilitation program, improves both quality of life and clinical outcomes in patients with cardiovascular diseases (CVDs). Assessing heart rate variability (HRV) during training sessions has been shown to assist in tailoring exercise programs and optimizing their therapeutic effects. In this study, we investigated how the discontinuation of the betablocker bisoprolol affects HRV assessed during exercise in CVDs patients. We present a case series of eight CVDs patients, (age: 71.3±5.7; BMI: 27.4±1.8 $$\text {kg/m}^2$$), seven male and one female in stable clinical conditions, who performed cycle-ergometer exercise at a constant pedaling cadence. During the exercises: i) the HR (mean over instantaneous HR values) was meaningfully regulated, through a variable control load, to a piecewise constant reference, with the aim of meeting stationarity conditions for a 3-minutes short-term analysis of HRV; ii) the first HR reference value, within each exercise bout, was set close to the HR resting value of the patients, thus making room for the HRV baseline measure. Each patient performed three HR-controlled training bouts, at a non-decreasing rate of perceived exertion, in two different experimental sessions: A) while taking bisoprolol; B) 48-hours after discontinuation of the bisoprolol therapy. HRV recordings were made during all the phases of the bouts in which a constant HR reference was imposed. They led to the evaluation of low frequency (LF) and high frequency (HF) components, all of them normalized with respect to the total power. In most phases, the use of bisoprolol non-negatively affects the HR regulation performance. On the other hand, when the analysis, over a proper subset of patients, is restricted to the phases for which a direct comparison – with and without bisoprolol – can be made at the same HR (almost constant) level, it is uniformly observed that: i) normalized HF was higher with bisoprolol in A session than in the B session, ii) normalized LF was lower with bisoprolol (A session) than in the B session, and consequently, iii) the LF/HF ratio is lower with bisoprolol (A session) than in the B session. Such modifications are stronger in a patient whose HR is more largely reduced by the effect of bisoprolol. The experimental data of this paper go beyond previous studies showing that betablockers affect HRV (at rest) in patients with CVDs. Indeed, they extend those findings to an HR-controlled exercise framework that is, in our view, feasible and potentially advantageous in the cardiac rehabilitation field, since it provides quantitative variables (namely, the integral of the HR regulation error over the 3-minute-long time window at constant HR reference, as well as the normalized HF, LF, respectively): i) to characterize the HR regulation performance whose accuracy is necessary for measuring the HRV; ii) the subject’s functional response to the training level assessed during the exercise, which might allow for a precision approach to rehabilitation.

Abstract With the acceleration of global population aging, the incidence of age‐related cognitive decline (ARCD) is increasing. This impairs older adults' ability to take care of themselves and increases the burden on families and society. Cognitive rehabilitation is a key management strategy for ARCD. It not only delays disease progression and maintains cognitive function but also enhances patients' ability to perform activities of daily living and engage in social participation. Repetitive transcranial magnetic stimulation (rTMS), a non‐invasive neuromodulation technique that precisely regulates the activity of specific brain regions and promotes neuroplasticity, has shown potential for improving mild cognitive impairment (MCI) and dementia‐related symptoms, making it an important treatment option in the field of cognitive rehabilitation. This study conducted a bibliometric analysis of 2038 publications from 2005 to 2025. We visualized and analyzed the results using CiteSpace, presenting the most productive countries/regions and institutions, highly cited authors and co‐cited authors, and core journals based on co‐citation analysis. Keywords and references were also analyzed to elucidate the hotspots and trends of rTMS in the field of cognitive rehabilitation. Keyword co‐occurrence and thematic evolution analyses highlighted three major research domains: therapeutic strategies for Alzheimer's disease (AD), MCI, and depression‐related cognitive deficits. Research directions for some key results are discussed. Future efforts should focus on elucidating neuroplasticity mechanisms, integrating multimodal neuroimaging technologies (electroencephalogram/functional magnetic resonance imaging, EEG/fMRI), optimizing individualized stimulation protocols, and strengthening international collaborations to standardize clinical trial methodologies. These findings establish a strategic framework for translating rTMS innovations into precision cognitive rehabilitation paradigms.

Singularity conditions from a kinetostatic analysis of a new parallel robot for human balance and gait rehabilitation