Table 2 Study outcomes grouped in functional categories

Ankle ROM [30, 33, 37, 45, 51, 54]

GRF x [43, 52, 53]

Gait time symm. [44]

Oxygen consumption [45]

10MWT [34, 44]

Exo-applied torque [52]

Knee ROM [30, 31, 33]

GRF y [43]

GRF z symm. [38, 41]

Energy consumed per meter [52]

6MWT [40, 41]

Exo-applied power [52]

Hip ROM [30]

GRF z [38, 41, 45, 52]

Interlimb Propulsion symm. [45]

Net metabolic energy cost [27]

Human Autonomy Index [53]

Avg. % change in joint angles [32]

Cadence [26, 30, 32, 46]

AP impulse [47]

Joint Angles symm. [32]

TUG [40, 41]

Control parameter [33]

CoP length [43, 47]

Index of norm. variability [42]

Spatial symm. [38, 50]

Target tracking % error [41]

Mean speed [25]–[27, 29, 32, 33, 36, 40, 41, 46]–[49]

Joint torques [35]

Temporal symm. [26, 27]

Tracking error [42]

Covered Distance [40]

Muscular frequency [28]

Stance time symm. [38, 44, 50]

Knee-Hip 2D trajectory [39]

Foot trajectory [50]

MVC [27]

Step time symm. [25, 50]

Forward tilting angle [37]

Paretic propulsion [50, 51]

Step length symm. [25, 48]–[51]

Gait cycle time [44]

MAV EMG [42]

Stride length symm. [38]

Heel-first foot strikes [53]

Pelvic interaction forces [43]

Stride time symm. [50]

Leg angular velocity [37]

Stride velocity symm. [38]

Paretic swing angle [53]

Swing time symm. [38, 51]

Trailing limb angle [52]

sEMG RMS mean diff. [28]

T single/double supp. [26, 44]

T_paretic single/double supp. [46, 47]

Single leg balance [41]

Step time [26, 43]

Stance time [26, 38]

Step height [29, 54]

Step length [25, 26, 29, 32, 43]

Step width [43]

Stride length [26, 27, 31, 38, 46, 48, 49]

Stride velocity [38]

Stride time [31]

Swing time [26, 29, 38]