Wearable Rehabilitation Robot

January 24, 2026

The Angel Legs M20 is a wearable overground gait training robot developed by Angel Robotics. It is specifically designed for individuals with incomplete lower-limb paralysis, aiming to promote muscle recovery and joint mobility through structured gait rehabilitation. Unlike stationary systems, this robot allows for overground movement, providing a more functional training environment for patients as they work toward regaining their walking ability.

One of the primary technologies integrated into the M20 is its precision actuator control based on a force-controlled mechanism. This system follows an Assist-as-Needed philosophy, meaning the robot detects the patient's motion intent through ground contact and joint sensors. It then provides specific force assistance only when the patient's own muscle strength is insufficient, ensuring the user remains active in the movement process rather than being moved passively by the device.

The robot is highly adaptable to different body types and clinical needs. It features adjustable pelvic width and depth, as well as adjustable leg lengths and attachment points to ensure a comfortable and secure fit. The M20 offers seven distinct training modes, including sit-to-stand, level walking, stair climbing, and squats. These modes allow therapists to guide patients through various stages of rehabilitation, from basic stability to more complex mobility tasks. Therapists can monitor training progress, adjust robot settings, and generate comprehensive reports that cover gait phases, joint kinematics, and spatial-temporal indices.

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