Back to search results

Hybrid Robot+FES for Stroke Rehabilitation

This study is testing a new approach to stroke rehabilitation that combines a special ankle robot with functional electrical stimulation (FES). The ankle robot helps with stretching and movement training, while FES uses gentle electrical pulses to activate muscles. Researchers believe this combination could help stroke survivors improve their movement and strength. You might be able to join if you are 18-85 years old, can walk at least 10 meters with or without help, had your stroke at least 6 months ago, and have a caregiver to assist with home training. The study will look at how much your lower body movement improves over 12 weeks using a measure called the Fugl-Meyer Lower Extremity score. The current recruitment status for this study is unclear.

Study design
This interventional study plans to enroll 60 participants. It compares two groups: one using ankle robot training and another using both ankle robot training and functional electrical stimulation (FES).
What's involved
Not specified in the trial record.
Compensation
Not stated in the trial record.
Follow-up
Participants' lower extremity function will be measured at 6 weeks and 12 weeks after starting the intervention.

AI-generated from the public study record. Only the study team can confirm whether you're eligible — confirm details with them before making decisions.

NCT04550728

Hybrid Robot+FES Stroke Rehabilitation

Recruiting
PHASE1Ages 18–85InterventionalTreatment
University of Maryland, Baltimore
~60 participants
Updated 2025-12-18 on ClinicalTrials.gov
What's tested:Ankle robot training groupAnkle robot training and functional electrical stimulation(FES) group

At a glance

Recruiting sites
1 of 1 listed site is recruiting right now
RecruitingSuspended, closed, or not yet open
What they're measuring
Fugl-Meyer Lower Extremity
Measured over Baseline
+14 more outcomes measured

Conditions

Stroke

Explore related trials

Stroke

NCT04550728

Where you'd take part

This study runs at 1 site. They're the same protocol — you choose where, and that choice sets who your contact draft is addressed to.

  • University of Maryland School of Medicine

    Baltimore, Marylandno site contact published

    Recruiting

Sites open and close at different times, so the status above is per site — it can differ from the study's overall status.

Who to contact

Li-qun Zhang, PhD
[email protected]
410 706 2145
Email the study team

Opens a ready-to-send draft in your own email app — review before sending.

Want this trial checked against your situation?

Add a private profile and we'll compare every criterion below against your situation — and tell you which ones are met, uncertain, or excluding.

Check eligibility for this trial ~2 min · HIPAA-protected · delete anytime
Eligibility criteria

Inclusion

Age 18-85;
Able to ambulate at least 10 meters without human assistance, with or without an assistive device
≥ 6 months post stroke;
having a caregiver to assist in training at home.

Exclusion

having expressive and receptive aphasia;
an inability to follow multi-step commands;
enrolled in another lower limb rehabilitation program;
having severe pain in the paralyzed lower-limb;
\>30º ankle plantar flexion contracture;
Having implanted electronic device such as a pacemaker, spinal cord, or deep brain stimulator because FES may potentially interfere with their functions.

What this trial measures

  • Fugl-Meyer Lower ExtremityBaseline

    The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.

  • Fugl-Meyer Lower Extremity6 weeks

    The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.

  • Fugl-Meyer Lower Extremity12 weeks

    The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.

  • Dorsiflexion active range of motionBaseline

    Joint ankle active range of motion measured by ankle robot.

  • Dorsiflexion active range of motion6 weeks

    Joint ankle active range of motion measured by ankle robot.

  • Dorsiflexion active range of motion12 weeks

    Joint ankle active range of motion measured by ankle robot.

  • 6 minutes walking testBaseline

    The six-minute walk test (6MWT) measures the distance an individual is able to walk over a total of six minutes on a hard, flat surface. The goal is for the individual to walk as far as possible in six minutes.

  • 6 minutes walking test6 weeks

    The six-minute walk test (6MWT) measures the distance an individual is able to walk over a total of six minutes on a hard, flat surface. The goal is for the individual to walk as far as possible in six minutes.

  • 6 minutes walking test12 weeks

    The six-minute walk test (6MWT) measures the distance an individual is able to walk over a total of six minutes on a hard, flat surface. The goal is for the individual to walk as far as possible in six minutes.

  • Medical thickness of medial gastrocnemius muscle and tibial anterior muscleBaseline

    B-model ultrasound will be used to scan the muscle thickness, and the image will be further proceeded to measure the muscle thickness with unit in centimetres.

  • Medical thickness of medial gastrocnemius muscle and tibial anterior muscle6 week

    B-model ultrasound will be used to scan the muscle thickness, and the image will be further proceeded to measure the muscle thickness with unit in centimetres.

  • Medical thickness of medial gastrocnemius muscle and tibial anterior muscle12 week

    B-model ultrasound will be used to scan the muscle thickness, and the image will be further proceeded to measure the muscle thickness with unit in centimetres.

  • Muscle fiber pennation angle of medial gastrocnemius muscle and tibial anterior muscleBaseline

    B-model ultrasound will be used to scan the muscle and the image will be further proceeded to measure the muscle fiber pennation angle with unit in degree.

  • Muscle fiber pennation angle of medial gastrocnemius muscle and tibial anterior muscle6 week

    B-model ultrasound will be used to scan the muscle and the image will be further proceeded to measure the muscle fiber pennation angle with unit in degree.

  • Muscle fiber pennation angle of medial gastrocnemius muscle and tibial anterior muscle12 week

    B-model ultrasound will be used to assess the muscle thickness, muscle fiber pennation angle. Elasticity will be measured using ultrasound elastography.