{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T22:55:46Z","timestamp":1771023346166,"version":"3.50.1"},"reference-count":86,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T00:00:00Z","timestamp":1763510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Robot-Assisted Gait Training (RAGT) has emerged as a promising approach to improve motor recovery for stroke survivors. Among RAGT devices, exoskeletons offer precise joint actuation, but they are costly, mechanically complex and present risks related to joint misalignment. End-effector systems present a more affordable and simpler alternative, but face limitations in workspace and adaptability for assist-as-needed therapy. Cable-Driven End-Effector Gait Rehabilitation Robots (CDEGRs) combine the strengths of both approaches, offering low inertia, flexible configurations, and scalable designs. This review systematically examines the current landscape of CDEGRs, encompassing their kinematic classifications, control strategies, and platform configurations. Unlike previous reviews that broadly addressed exoskeletons or upper-limb rehabilitation devices, this work provides a focused and detailed analysis of lower-limb end-effector systems. In doing so, it identifies persistent gaps in design and control frameworks and highlights future research directions toward more efficient and clinically validated CDEGR architectures.<\/jats:p>","DOI":"10.3390\/robotics14110169","type":"journal-article","created":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T12:55:31Z","timestamp":1763556931000},"page":"169","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Cable-Driven End-Effector Robots for Gait Rehabilitation: A Review and Future Research Directions"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6631-0085","authenticated-orcid":false,"given":"Javier Dario","family":"Sanjuan De Caro","sequence":"first","affiliation":[{"name":"GIMYP Research Unit, Mechanical Engineering Department, Universidad del Norte, Barranquilla 081007, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jose David","family":"Castillo-Blanco","sequence":"additional","affiliation":[{"name":"GIMYP Research Unit, Mechanical Engineering Department, Universidad del Norte, Barranquilla 081007, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6055-3753","authenticated-orcid":false,"given":"Daniela","family":"Charris","sequence":"additional","affiliation":[{"name":"GIMYP Research Unit, Mechanical Engineering Department, Universidad del Norte, Barranquilla 081007, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel Jos\u00e9","family":"Romero Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Electrical & Systems and Computer Engineering Department, Universidad del Norte, Barranquilla 081007, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6370-8757","authenticated-orcid":false,"given":"Mohammad H.","family":"Rahman","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chadi","family":"Nohra","sequence":"additional","affiliation":[{"name":"Electrical & Computer Engineering Department, Beirut Arab University, Beirut 11-5020, Lebanon"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"204","DOI":"10.1159\/000200461","article-title":"Quality of Life after Stroke: The Importance of a Good Recovery","volume":"27","author":"Egido","year":"2009","journal-title":"Cerebrovasc. 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