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
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, ChinaTaking 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?
Trial 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.