Adaptive control ankle robotics training durably improves gait biomechanics in chronic hemiparetic stroke and footdrop.

Subjects included N = 24 participants (12 male, 12 female) age 57 ± 13 years with mean 10 ± 9 years since stroke.

AMBLE training improved select gait biomechanics outcomes including maximum toe clearance (mm, pre- 69±28 versus post- 79±30, p < 0.01), ankle peak dorsiflexion angular velocity (°/s, 35±32 versus 47±40, p < 0.01), heel-first foot strikes (%steps, 31±41 versus 44±43, p < 0.01), and paretic step length (cm, 37±16 versus 40±14, p < 0.01.