Abstract
BACKGROUND: Hemiplegic gait after a stroke can result in a decreased gait speed and asymmetrical gait pattern. Normal gait patterns and speed are typically the ultimate goals of gait function in stroke rehabilitation. The purpose of this study was to investigate the immediate effects of the Gait Enhancing and Motivating System-Ankle (GEMS-A) on gait function and pattern in stroke patients with hemiplegia. METHODS: A total of 45 eligible participants was recruited for the study. The experimental protocol consisted of overground gait at a comfortable speed under 2 conditions: free gait (FG) without robot assistance and robot-assisted gait (RAG). All measurement data were collected using a 3D motion capture system with 8 infrared cameras and 2 force plates. RESULTS: Patients in the RAG condition had significantly increased gait speed, cadence, gait symmetry, and peak flexion angle and moment of the paretic ankle joint compared to the FG condition. Moreover, the RAG resulted in higher propulsive forces by altering peak ankle force generation compared with the FG. CONCLUSION: The findings of this study provide evidence that a newly developed wearable ankle-assist robot, the GEMS-A, is a potentially useful walking assist device for improving gait function and pattern in stroke patients with hemiplegia. TRIAL REGISTRATION: NCT03767205 (first registration date: 02/12/2018, URL: https://register. CLINICALTRIALS: gov ).