Knowing Peter Killeen.

Stroke is one of the most common causes of major disabilities worldwide []. Of survivors who live at least 5 years after the stroke event, approximately 30%–50% achieve suboptimal neurophysiological functioning through measures of motor ability, cognition, and activities of daily living []. Among these neurological deficits, obvious hemiplegia is a frequent condition and poses a severe burden on patients and their families []. So far, traditional physical and occupational therapy is the primary treatment option for hemiplegia due to stroke; however, this is labor‐intensive, and its effect might depend on the therapist′s ability and competence []. Furthermore, evaluations of the patients′ functional ability from the initial stage after stroke to the follow‐up stage after rehabilitation therapy are often subjective in the clinic. In recent years, robot‐aided neurorehabilitation techniques have been extensively developed due to the increased sophistication of electromechanical engineering and new computational approaches [–]. Previous studies reported greater neurological and functional improvements by robotic sensorimotor training, which were concomitantly provided with traditional rehabilitation, compared to only traditional rehabilitation in stroke patients [, ]. Technological advancement in relevant engineering has made robotics available for rehabilitation interventions []. To achieve normal gait patterns, balance reactions, including postural tone and sensation, should be actively engaged in a gait sequence with minimal effort. Most stroke patients struggle with selective control of the trunk and lower extremities, leading to difficulties in postural control and gait []. Thus, regaining trunk control and balance is a significant element in stroke rehabilitation to enhance the ability to walk [–]. However, most gait training robots currently on the market or under development focus on simulation of normal walking patterns [–]. Robots for patients with neurological impairment that are purposed to not only strengthen the lower extremities but also exercise the trunk have not yet been sufficiently developed. Regarding the progress monitoring for lower limb rehabilitation in poststroke patients, assessments for gait‐related parameters should be used to determine improvement, which would be better to be assessed automatically during rehabilitation [].