Table 3 Medians (ranges) of gait kinematics related to individual pre-defined training goals for the AAN_mDOF robotic and conventional gait training groups before (T0), immediately after (T1), and four months after (T2) the intervention period

Foot clearance

n = 6

n = 6

n = 6

n = 6

n = 6

n = 6

 Peak knee flexion (°)**

31.6

(11.4–54.3)

47.9

(16.3–60.0)

52.4

(16.9–59.5)

42.1

(29.5–56.6)

36.5

(22.4–64.1)

33.9

(20.7–53.5)

Knee stability

n = 6

n = 5

n = 3

n = 7

n = 7

n = 6

 Difference in paretic vs non-paretic maximum knee extension velocity (°/s)

− 13.7

(− 76.2–27.5)

− 9.0

(− 22.9–37.4)

− 20.9

(− 67.3–32.7)

− 25.6

(− 100.6–41.3)

− 34.6

(− 79.3–67.1)

− 7.5

(− 55.3–53.0)

Limb loading

n = 4

n = 4

n = 3

n = 2

n = 2

n = 2

 Single-support time symmetry ratio

0.02

(0.01–0.15)

0.01

(0–0.14)

0.01

(0–0.13)

0.04

(0.04–0.04)

0.02

(0–0.03)

0.02

(0–0.04)