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Ann Rehabil Med. 2017 Apr;41(2):178-187. doi: 10.5535/arm.2017.41.2.178. Epub 2017 Apr 27.

Feasibility of Rehabilitation Training With a Newly Developed, Portable, Gait Assistive Robot for Balance Function in Hemiplegic Patients.

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Department of Rehabilitation Medicine, Hanyang University College of Medicine, Seoul, Korea.
Department of Rehabilitation Medicine, Rusk Bundang Rehabilitation Hospital, Seongnam, Korea.
Department of Robot Engineering, CIM & Robotics Laboratory, Hanyang University, Ansan, Korea.



To investigate the clinical feasibility of a newly developed, portable, gait assistive robot (WA-H, 'walking assist for hemiplegia') for improving the balance function of patients with stroke-induced hemiplegia.


Thirteen patients underwent 12 weeks of gait training on the treadmill while wearing WA-H for 30 minutes per day, 4 days a week. Patients' balance function was evaluated by the Berg Balance Scale (BBS), Fugl-Meyer Assessment Scale (FMAS), Timed Up and Go Test (TUGT), and Short Physical Performance Battery (SPPB) before and after 6 and 12 weeks of training.


There were no serious complications or clinical difficulties during gait training with WA-H. In three categories of BBS, TUGT, and the balance scale of SPPB, there was a statistically significant improvement at the 6th week and 12th week of gait training with WA-H. In the subscale of balance function of FMAS, there was statistically significant improvement only at the 12th week.


Gait training using WA-H demonstrated a beneficial effect on balance function in patients with hemiplegia without a safety issue.


Gait; Hemiplegia; Rehabilitation; Robotics; Stroke

Conflict of interest statement

CONFLICT OF INTEREST: No potential conflict of interest relevant to this article was reported.

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