Fig. 6

Overview of the main baseline and outcome metrics. A Percentage distribution of the metrics that were used in at least 5% of the studies to determine the initial functioning level of participants. B Percentage distribution of the outcome measures of the robotic interventions that were used in at least 5% of the studies grouped by categories, i.e., ambulation scales/tests, spatio-temporal measurements, joint kinematics, muscular activity (EMG), dynamics, and energy expenditure. Functional Ambulation Category (FAC), 10 m Walk Test (10MWT), 6 min Walk Test (6MWT), Gross Motor Function Measure (GMFM), Modified Ashworth Scale (MAS), Berg Balance Scale (BBS), Fugl–Meyer Assessment (FMA), Barthel Index (BI), Timed-Up and Go (TUG), Functional Independence Measure (FIM) and Brunnstrom Stage (BS)