TABLE 4. Rehabilitation training evaluation results. QUADRICEPS FEMORIS 107% up GLUTEUS MEDIUS 173% up ILIOPSOAS MUSCLE 137% up WALKING ABILITY 127% up EXPERIMENTAL RESULTS To verify the superiority of the proposed passive and active direct switching training in this study, an experimental study of the RRDS was performed. Infrared sensors were used to measure the active walking velocity during rehabilitation and compare it with the actual movement velocity of the RRDS. The robot then determined its velocity and stored it. In our earlier work, we conducted an experimental study Computer Control Algorithm Serial Port 0 s d t < 8 s t t 8 s Sensor Decision Velocity Robot Error