Efficacy of End-Effector Robot-Assisted Gait Training in Subacute Stroke Patients

Inclusion Criteria: * first cerebral stroke * 2 weeks up to 6 months post the acute event (subacute patients) * age between 18-80 years * ability to fit into the end-effector footplates * no significant limitation of joint range of motion * ability to tolerate upright standing for 60 seconds * ability to walk unassisted or with little assistance * ability to give written consent * compliance with the study procedures Exclusion Criteria: * contractures of the hip, knee, or ankle joints that might limit the range of motion during gait * medical issue that precludes full weight bearing and ambulation (e.g. orthopaedic injuries, pain, severe osteoporosis, or severe spasticity) * cognitive and/or communicative disability (e.g. due to brain injury): inability to understand the instructions required for the study * cardiac pathologies, anxiety or psychosis that might interfere with the use of the equipment or testing Written informed consent was obtained from each subject.