Background: Hemiparetic gait is characterized by strong asymmetries that could severely affect the quality of life of stroke survivors. This asymmetry is due to motor deficits in the paretic leg and the resulting compensations in the non-paretic limb. In this study, we aim to evaluate the effect of actively promoting gait symmetry in hemiparetic patients by assessing the behavior of both paretic and non-paretic lower limbs. This paper introduces the design and validation of the REFLEX prototype, a unilateral active Knee-Ankle-Foot Orthosis able to naturally assist the paretic limb of hemiparetic patients during gait.
Methods: REFLEX uses an Adaptive Frequency Oscillator to estimate the continuous gait phase of the non-paretic limb. Based on this estimation, the device synchronically assists the paretic leg following two different control strategies: (1) Replicating the movement of the sound leg or (2) Inducing a healthy gait pattern on the paretic leg. Technical validation of the system was implemented on three healthy subjects, while the effect of the generated assistance was assessed in three stroke patients.
Results: Preliminary results proved the feasibility of the REFLEX prototype to assist gait by reinforcing symmetry. They also pointed out that the assistance of the paretic leg resulted in a decrease of the compensatory strategies developed by the non-paretic limb to achieve a functional gait. Notably, better results were attained when the assistance was provided according to a standard healthy pattern, which initially might suppose a lower symmetry but enabled a healthier evolution of the motion of the non-paretic limb.
Conclusions: This work presents the preliminary validation of the REFLEX prototype, a unilateral knee exoskeleton for gait assistance in hemiparetic patients. The experimental results indicate that assisting the paretic leg of hemiparetic patients based on the movement of their non-paretic one is a valuable strategy for reducing the compensatory mechanisms developed by their sound limb.