Table 1 Characteristics of included studies
Study | Year | Sample (E/C) | Age | Gender (Male/Female) | Intervention | Baseline Assessment Results (E/C) | Period | |||
|---|---|---|---|---|---|---|---|---|---|---|
E | C | E | C | E | Control | |||||
Liu | 2013 | 20/20 | 52.46 ± 8.04 | 53.22 ± 5.73 | 12/8 | 14/6 | CR + rehabilitation robot | CR | BBS(20.5 ± 3.32/21.63 ± 2.98) FMA(20.7 ± 3.78/21.88 ± 2.57), MBI(28.3 ± 5.23/27.43 ± 3.65) | 10w |
Meng | 2013 | 30/30 | 57.3 ± 10.2 | 56.5 ± 11.6 | 16/14 | 17/13 | CR + rehabilitation robot | CR | FMA(15.0 ± 2.82/14.83 ± 3.10) BBS(27.8 ± 7.66/26.30 ± 5.93) | 12w |
Zhang | 2013 | 17/17 | 55.65 ± 13.20 | 55.47 ± 13.61 | 10/7 | 12/5 | CR + Lokohelp rehabilitation robot | CR | FMA(11.5 ± 5.39/11.64 ± 5.30) MBI(30.2 ± 6.17/31.24 ± 6.26) | 4w |
Zhao | 2013 | 20/20 | 51.8 ± 10.1 | 57.6 ± 8.2 | 17/3 | 15/5 | CR + Lokomat rehabilitation robot | CR | FMA(15.1 ± 2.1/14.9 ± 1.0) | 10w |
Gao | 2014 | 30/30 | 50.6 ± 8.1 | 52.5 ± 7.3 | 18/12 | 20/10 | CR + rehabilitation robot | CR | FMA(15.3 ± 7.12/15.18 ± 6.85) BBS(19.4 ± 5.78/18.92 ± 6.30) | 8w |
Ouyang | 2014 | 50/50 | 56.5 ± 13.1 | 56.2 ± 13.5 | 27/23 | 24/26 | CR + rehabilitation robot | CR | BBS(25.4 ± 4.3/24.3 ± 5.2) MBI(19.6 ± 6.7/19.2 ± 5.8) | 8w |
Bei | 2015 | 40/40 | 61.7 ± 6.32 | 62.7 ± 6.48 | 34/6 | 29/11 | CR + Lokomat rehabilitation robot | CR | FMA(9.95 ± 4.36/9.43 ± 3.64) FAC(0.82 ± 0.85/0.57 ± 0.81) BBS(7.38 ± 3.93/7.38 ± 3.87) BMI(29.6 ± 7.11/29.88 ± 7.80) | 6w |
Li | 2015 | 38/38 | 62.3 ± 7.8 | 63.6 ± 6.7 | 20/18 | 22/16 | CR + rehabilitation robot | CR | FMA(22.9 ± 4.19/24.14 ± 3.01) | NR |
Luo | 2015 | 20/20 | 66.43 ± 5.34 | 63.33 ± 6.30 | 10/10 | 12/8 | CR + Lokohelp rehabilitation robot | CR | FMA(32.9 ± 5.71/32.53 ± 4.20) | 24w |
Wang | 2015 | 30/30 | 43.6 ± 11.3 | 44.9 ± 12.7 | 17/13 | 15/15 | CR + Lokomat rehabilitation robot | CR | FMA(18.1 ± 1.34/19.76 ± 0.94) BBS(16.2 ± 1.17/16.35 ± 1.21) 6MWT(211.31 ± 11.72/ 219.36 ± 13.19) FAC(2.71 ± 0.12/2.50 ± 0.31) | 8w |
Zhao | 2015 | 30/30 | 57 ± 9 | 58 ± 8 | 13/17 | 14/16 | CR + Lokomat rehabilitation robot | CR | FMA (13.6 ± 2.3/14.6 ± 2.8) BBS(19.8 ± 1.7/19.5 ± 1.9) | 8w |
Karla | 2016 | 10/10 | 44.1 ± 12.55 | 64.1 ± 8.38 | NR | NR | rehabilitation robot | CR | FMA (23.1 ± 6.37/20.1 ± 5.78) 6MWT(214.6 ± 118.46 /105.5 ± 95.51) | 8w |
Lu | 2016 | 20/20 | 55.25 ± 10.88 | 59.15 ± 12.20 | 13/7 | 13/7 | CR + rehabilitation robot | CR | FMA(18.40 ± 7.63 / 19.35 ± 8.29) MBI(45.50 ± 19.11 / 53.25 ± 24.56) | 6w |
Yao | 2016 | 33/33 | 65.18 ± 5.27 | 64.27 ± 5.38 | 19/14 | 21/12 | Lokohelp rehabilitation robot | CR | FMA(14.95 ± 1.6/14.85 ± 1.71) BBS(15.221.48/15.29 ± 1.52) | 8w |
Wang | 2017 | 63/63 | 55.1 ± 3.13 | 54.3 ± 3.21 | 34/29 | 33/30 | Lokomat rehabilitation robot | CR | FMA(15.3 ± 7.32/15.4 ± 7.07) BBS (18.7 ± 5.64/18.9 ± 6.01) | 10w |
Li | 2018 | 3/3 | 60.7 ± 8.98 | 59.7 ± 9.01 | NR | NR | CR + rehabilitation robot | CR | FMA(13.22 ± 7.02 / 13.13 ± 6/98) | 10d |
Liu | 2018 | 30/30 | 54.18 ± 6.26 | 53.83 ± 6.21 | 17/13 | 19/11 | CR + rehabilitation robot | CR | FMA(20.85 ± 3.62 / 21.73 ± 2.64) BBS(20.37 ± 3.13 / 21.55 ± 3.01) FAC(2.62 ± 0.11/2.56 ± 0.30) 6MWT(209.62 ± 12.06 /213.76 ± 13.24) | 8w |
Qian | 2018 | 21/21 | NR | NR | NR | NR | CR + rehabilitation robot | CR | FMA(13.47 ± 6.54 /12.18 ± 8.02) 6MWT(57.22 ± 15.41 /57.23 ± 20.10) | 8w |
Zhang | 2018 | 34/34 | 57.08 ± 9.47 | 56.97 ± 8.73 | 22/12 | 20/14 | CR + Lokomat rehabilitation robot | CR | FMA(18.79 ± 5.32 /19.07 ± 5.12) MBI(50.78 ± 16.02 / 48.73 ± 15.03) | 8w |
Zhao | 2018 | 424/282 | 62. 0 ± 16. 37 | 62. 7 ± 14. 83 | 312/112 | 130/152 | CR + rehabilitation robot | CR | BBS(9.08 ± 11.41/ 12.10 ± 19.98) | 12w |
Kim | 2019 | 25/23 | 57.7 ± 12.9 | 60.4 ± 13.2 | 20/5 | 13/10 | rehabilitation robot | CR | FAC(2.9 ± 1.2/2.9 ± 1.2) MBI(56.6 ± 21.5/54.0 ± 4.05) BBS(25.5 ± 16.3/26.9 ± 14.8) | 3w |
Hu | 2019 | 40/40 | 55.53 ± 9.23 | 58.29 ± 9.01 | 23/17 | 23/17 | CR + rehabilitation robot | CR | FMA(10.95 ± 1.85 /10.73 ± 2.03) BBS(6.43 ± 1.22 /6.65 ± 1.33) MBI(30.98 ± 3.13 /30.95 ± 3.15) | 12w |
Liao | 2019 | 110/110 | 68.81 ± 3.54 | 68.10 ± 4.10 | 56/54 | 55/55 | Lokomat rehabilitation robot | CR | FMA (15.42 ± 8.19 /15.11 ± 6.39) | 3 m |
Wen | 2019 | 43/43 | 51.03 ± 9.93 | 50.82 ± 10.07 | 27/16 | 29/14 | CR + Flexbot-B rehabilitation robot | CR | FMA(15.20 ± 5.88 /15.34 ± 5.06) BBS(19.24 ± 5.72 /18.96 ± 6.35) | 10w |
Yang | 2019 | 45/45 | 58.65 ± 5.50 | 58.62 ± 5.47 | 28/17 | 26/19 | CR + XYQ-8 rehabilitation robot | CR | FMA(18.26 ± 6.42 /18.23 ± 6.41) BBS(19.36 ± 5.24 /19.34 ± 5.26) FAC(1.35 ± 0.86/1.32 ± 0.87) 6MWT(200.65 ± 19.60 /200.61 ± 19.64) | 6w |
Min | 2020 | 19/19 | 61.47 ± 11.15 | 56.36 ± 9.16 | 11/8 | 13/6 | CR + rehabilitation robot | CR | FMA(21.47 ± 4.69 /18.36 ± 6.06) MBI(61.31 ± 17.59 /56.78 ± 20.59) FAC(3.21 ± 0.78/3.21 ± 0.71) BBS(33.21 ± 4.27 /37.89 ± 5.03) | 4w |
Gu | 2020 | 20/20 | 54.5 ± 12.7 | 57.6 ± 10.3 | 13/7 | 14/6 | CR + rehabilitation robot (Nutural gait I) | CR | FMA(12.4 ± 2.6/11.7 ± 2.9) BBS(29.3 ± 7.2/28.5 ± 6.4) MBI(53.3 ± 16.4/53.6 ± 14.2) | 8w |
Xie | 2020 | 19/20 | 57.26 ± 12.00 | 54.00 ± 15.26 | 13/6 | 15/5 | CR + rehabilitation robot | CR | FMA(21.89 ± 3.90 /23.94 ± 5.17) MBI(61.58 ± 17.16 /63.25 ± 26.37) | 3w |
Luo | 2020 | 25/25 | 59.97 ± 9.32 | 60.74 ± 9.83 | 14/11 | 13/12 | CR + A3 rehabilitation robot | CR | BBS(6.52 ± 1.05/6.47 ± 1.13) | 8w |
Shu | 2020 | 30/30 | 57.43 ± 7.05 | 57.55 ± 7.02 | 15/15 | 16/14 | CR + rehabilitation robot | CR | BBS(6.48 ± 1.28/6.67 ± 1.35) FMA(10.68 ± 2.01 /10.77 ± 2.10) MBI(51.86 ± 4.63 /50.55 ± 5.96) | 8w |
Wu | 2020 | 60/60 | 52.64 ± 10.76 | 53.28 ± 10.91 | 35/25 | 32/28 | CR + rehabilitation robot | CR | BBS(11.42 ± 5.33 /12.15 ± 5.46) FMA(15.16 ± 7.08 /15.83 ± 6.92) | 8w |
Li (1) | 2021 | 17/15 | 50.53 ± 12.26 | 50.13 ± 9.49 | 15/2 | 14/1 | CR + BEAR-H1 rehabilitation robot | CR | 6MWT(107.88 ± 67.62 /137.80 ± 75.07) FAC(2.65 ± 0.86/2.93 ± 0.59) FMA(20.41 ± 5.33 /20.47 ± 5.69) | 4w |
Li (2) | 2021 | 57/57 | NR | NR | NR | NR | BEAR-H1 rehabilitation robot | CR | FMA 6MWT(NR) | 4w |
Jiang | 2021 | 37/37 | 70.27 ± 5.12 | 69.94 ± 5.03 | 21/16 | 19/18 | CR + rehabilitation robot | CR | FMA(13.05 ± 2.7/13.19 ± 2.68) BBS(37.17 ± 6.7/36.78 ± 6.17) FAC(1.31 ± 0.29/1.28 ± 0.31) | 8w |
Ma | 2021 | 60/60 | 59.58 ± 2.66 | 59.73 ± 2.61 | 35/25 | 33/27 | CR + A3 rehabilitation robot | CR | 6MWT(158.42 ± 7.63 /158.75 ± 7.82) BBS(21.04 ± 1.72 /21.13 ± 1.65) FMA(18.89 ± 1.07 /18.75 ± 1.08) | 8w |
Pei | 2021 | 21/21 | 54.13 ± 10. 17 | 57.28 ± 9.08 | 14/7 | 16/5 | CR + A3 rehabilitation robot | CR | FMA(11.42 ± 6.54 /10.89 ± 6.87) 6MWT(30.47 ± 18.72 /31.21 ± 16.51) MBI(35.65 ± 7.22 /36.32 ± 7.53) | 8w |
Yao | 2021 | 30/30 | 45.40 ± 13.05 | 43.17 ± 14.40 | 17/13 | 19/11 | CR + rehabilitation robot | CR | FMA(22.07 ± 4.68 /21.23 ± 5.98) BBS(34.07 ± 6.94 /32.20 ± 6.18) | 6w |
Lin | 2022 | 20/20 | 54.1 ± 8.6 | 56.5 ± 12.9 | 14/6 | 15/5 | CR + rehabilitation robot | CR | FMA(8.1 ± 4.9/7.0 ± 4.7) BBS(8.8 ± 9.7/8.2 ± 8.4) | 4w |
He | 2023 | 35/35 | 63.83 ± 5.74 | 63.31 ± 5.57 | 19/16 | 21/14 | CR + rehabilitation robot | CR | FMA(15.97 ± 2.83 /16.20 ± 2.56) BBS(36.06 ± 5.87 /36.34 ± 6.07) FAC(1.37 ± 0.25/1.40 ± 0.27) | 8w |
Zhang | 2023 | 18/16 | 56.88 ± 10.99 | 60.81 ± 9.61 | 14/4 | 13/3 | rehabilitation robot | CR | FMA(20.69 ± 6.76 /17.31 ± 6.64) FAC(3.00 ± 1.00/3.00 ± 0.00) 6MWT(91.80 ± 141.00 /117.70 ± 71.41) | 4w |
Li | 2023 | 19/19 | 57.52 ± 6.39 | 58.13 ± 6.46 | 9/10 | 7/12 | CR + rehabilitation robot | CR | BBS(31.05 ± 6.10 /30.71 ± 5.89) FMA(9.07 ± 2.25/8.89 ± 2.31) FAC(1.31 ± 0.31/1.33 ± 0.29) MBI(38.92 ± 6.25 /39.88 ± 6.63) | 4w |