Robotic Resistance/Assistance Training Improves Locomotor Function in Individuals Poststroke: A Randomized Controlled Study Ming Wu, PhD, Jill M. Landry,

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Robotic Resistance/Assistance Training Improves Locomotor Function in Individuals Poststroke: A Randomized Controlled Study Ming Wu, PhD, Jill M. Landry, MSPT, Janis Kim, MPT, Brian D. Schmit, PhD, Sheng-Che Yen, PT, PhD, Jillian MacDonald, DPT Archives of Physical Medicine and Rehabilitation Volume 95, Issue 5, Pages 799-806 (May 2014) DOI: 10.1016/j.apmr.2013.12.021 Copyright © 2014 American Congress of Rehabilitation Medicine Terms and Conditions

Fig 1 Experimental setup. The cable-driven robotic gait system works with the treadmill and body weight support system. Four cables driven by 4 motors, pulleys, and cable spools were used to apply controlled resistance/assistance loads to the legs. A personal computer was used to control the coordinated movement of the 4 motors. In this study, 1 cable was used to provide controlled force to the paretic leg during the swing phase of gait. Abbreviation: 3D, 3-dimensional. Archives of Physical Medicine and Rehabilitation 2014 95, 799-806DOI: (10.1016/j.apmr.2013.12.021) Copyright © 2014 American Congress of Rehabilitation Medicine Terms and Conditions

Fig 2 Self-selected and fast overground walking speed, before and after 6 weeks of robotic resistance (A) and assistance (B) treadmill training with the cable-driven robotic gait training system, and 8 weeks after the end of training. An instrumented walkway (GaitMat II) was used to measure overground gait speed. Data shown in the figure are the mean and SD of gait speed across subjects. *P<.05. Archives of Physical Medicine and Rehabilitation 2014 95, 799-806DOI: (10.1016/j.apmr.2013.12.021) Copyright © 2014 American Congress of Rehabilitation Medicine Terms and Conditions

Fig 3 Six-minute walking distance (A) and BBS score (B) before and after 6 weeks of robotic resistance and assistance training, and 8 weeks after the end of training. Data shown in the figure are the mean and SD of walking distance and BBS score across subjects. *P<.05. Archives of Physical Medicine and Rehabilitation 2014 95, 799-806DOI: (10.1016/j.apmr.2013.12.021) Copyright © 2014 American Congress of Rehabilitation Medicine Terms and Conditions

Fig 4 Improvements in self-selected (A) and fast walking (B) overground gait speed before and after 6 weeks of robotic resistance and assistance treadmill training, and 8 weeks after the end of training. Three trials were tested for each condition. The bar and error indicate the mean and SD of the functional gains in gait speed across subjects. Archives of Physical Medicine and Rehabilitation 2014 95, 799-806DOI: (10.1016/j.apmr.2013.12.021) Copyright © 2014 American Congress of Rehabilitation Medicine Terms and Conditions