Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Adaptive robotic rehabilitation of locomotion: a clinical study in spinally injured individuals


S. Jezernik, R. Schärer, G. Colombo, M. Morari

Spinal Cord, vol. 41, pp. 657-666, Journal "Spinal Cord", Nature Publishing

Study Design: Clinical study on 6 SCI subjects. Performance of two automatic gait-pattern adaptation algorithms for automated treadmill training rehabilitation of locomotion (called DJATA1 and DJATA2) was tested and compared in this study. Objectives: To test the performance of the two algorithms and to evaluate the corresponding patient satisfaction. We also wanted to evaluate the motivation of the patients to train with a fixed gait-pattern versus training where they can influence and change the gait-pattern (gait-pattern adaptation). Setting: Spinal Cord Injury Center Paracare, Balgrist, Zurich, Switzerland Methods: The experimental data were collected during six blinded and randomized training trials (comprising three different conditions per algorithm) split into two training sessions per patient. During the experiments we have recorded the time-courses of the 6 parameters describing the adaptation. Additionally, a special patient questionnaire was developed that allowed us to collect data regarding the quality, perception, speed, and required effort of the adaptation, as well as patients’ opinion that addressed their motivation. The achieved adaptation was evaluated based on the time-course of adaptation parameters and based on the patient questionnaire. A statistical analysis was made in order to quantify the data and to compare the two algorithms. Results: Significant adaptation of the gait-pattern took place. The patients were in most cases able to change the gait-pattern to a desired one and have always perceived the adaptation. No statistically significant differences were found between the performances of the two algorithms based on the evaluated data. However, DJATA2 achieved better adaptation scores. All patients preferred treadmill training with gait-pattern adaptation. Conclusion: In the future the patients would like to train with gait-pattern adaptation. Besides the subjective opinion indicating the choice of this training modality, gait-pattern adaptation also might lead to additional improvement of the rehabilitation of locomotion as it increases and promotes active training. Sponsorship: The work was supported by The Swiss Commission for Technology and Innovation (Proj. Nr. 4005.1).

Further Information

Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@Article { JezEtal:2003:IFA_378,
    author={S. Jezernik and R. Sch{\"a}rer and G. Colombo and M. Morari},
    title={{Adaptive robotic rehabilitation of locomotion: a clinical
	  study in spinally injured individuals}},
    journal={Spinal Cord},
Permanent link