Wearable Ankle-Foot Robot Training for Walking After Stroke
Tests a wearable ankle-foot robot during walking practice in adults recovering from stroke.
Plain-language title generated from the registry record
Registry title: ENMS With Balance Feedback for Post-stroke Ankle-foot Rehabilitation
Key facts
- Where
- Hong Kong, ChinaSee the site
AI summary: who the study is looking for
From the trial's eligibility criteria. Machine-read from the registry text on this page, so it can be wrong. The registry text below and the trial team decide who can take part.
The trial is looking for adults who had a stroke at least 6 months ago and now have foot drop. They must be able to stand and walk without hands-on help.
- Age
- 18 to 70 years
- Sex
- All sexes can join.
- Disease stage
- At least 6 months after a stroke. Mild-to-moderate movement problems in the affected leg with foot drop. Fugl-Meyer lower limb total score under 20, Functional Ambulatory Category 4 or higher, Berg Balance Scale 40 or higher.
- Earlier treatment
- People cannot receive other leg rehabilitation treatment at the same time.
Main reasons for not taking part
- Severe stiffness at the ankle joint (Modified Ashworth Score above 3)
- Receiving other lower limb rehabilitation at the same time
- Mini-Mental State Examination score of 21 or lower
- Cannot stand and walk without hands-on help
Read by machine on 9 November 2026.
Could this be for you?
Answer for yourself. This is not a decision: only the study team can say whether you can take part.
- Are you between 18 and 70 years old?
Source: NCT04934787, who can take part
Where in China
- The Hong Kong Polytechnic UniversityHong Kong, ChinaContact: Xiaoling Hu, Ph.D.Taking people
Questions to ask the study team
- How often do I need to come in, and for how long each time?
- Are travel costs paid?
- Can I keep my own doctor?
- What happens if I want to stop?
Contact the study team: see the registry record → Contacts and Locations
Print a page for my doctorTrial details
- Who runs it
- The Hong Kong Polytechnic University
- Trial code
- NCT04934787
- Record updated
- 22 June 2026
- Original description
In this work, a novel hybrid ankle-foot robot is designed for gait rehabilitation after stroke, i.e., exoneuromusculoskeleton with balance sensing feedback (ENMS-BSF) by integrating the advantages of soft pneumatic muscle, functional electrical stimulation, exoskeleton and foot balance feedback in one system. With the assistance of the ENMS-BSF the foot drop and foot inversion could be corrected with improved muscle coordination in the paretic lower limb. The device is wearable and light-in-weight for unilateral application during walking. It is hypothesized that with the intervention of the ENMS-BSF the gait pattern of persons after stroke can be improved with long-term rehabilitative effects.Read full original descriptionShow less
Exo-neuro-musculo-skeleton With Balance Sensing Feedback for Ankle-foot Rehabilitation After Stroke
In this work, a novel hybrid ankle-foot robot is designed for gait rehabilitation after stroke, i.e., exoneuromusculoskeleton with balance sensing feedback (ENMS-BSF) by integrating the advantages of soft pneumatic muscle, functional electrical stimulation, exoskeleton and foot balance feedback in one system. With the assistance of the ENMS-BSF the foot drop and foot inversion could be corrected with improved muscle coordination in the paretic lower limb. The device is wearable and light-in-weight for unilateral application during walking. It is hypothesized that with the intervention of the ENMS-BSF the gait pattern of persons after stroke can be improved with long-term rehabilitative effects.
Inclusion: At least 6 months after the onset of stroke; Have sufficient cognition to follow simple instructions, as well as understand the content and purpose of the experiment (Mini-Mental State Examination (MMSE) score >21); Have mild-to-moderate motor impairment in the affected lower limb with foot drop but be capable of standing and walking without manual assistance; Fugl-Meyer Assessment (FMA), total score on the lower limb <20; Functional Ambulatory Category (FAC) ≥4; Berg Balance Scale (BBS) ≥40.
Exclusion: Receiving other lower limb rehabilitative interventions at the same time; The exclusion criteria will be server spasticity at the ankle joint measured by Modified Ashworth Score (MAS) >3.