Effectiveness of Robotic Therapy in Improving Balance Function After Stroke: Systematic Review
DOI:
https://doi.org/10.69980/ajpr.v28i5.531Keywords:
robot-assisted gait training, stroke rehabilitation, balance, Berg Balance Scale, exoskeleton, end- effector, postural control, meta-analysis, neurorehabilitation, randomized controlled trialsAbstract
Background: Balance impairment is a prevalent and debilitating consequence of stroke that contributes to falls, reduced mobility, and limited independence. While robot-assisted gait training (RAGT) has shown promise in improving motor outcomes post-stroke, its specific impact on balance remains unclear. This systematic review and meta-analysis aims to evaluate the efficacy of RAGT on balance function in adult stroke patients, and to identify potential moderators such as stroke chronicity, robotic device type, and training intensity.
Methods: A comprehensive search was conducted in PubMed, Cochrane Library, Embase, and CNKI for randomized controlled trials (RCTs) from inception through January 2020. Studies were included if they compared robotic gait therapy to conventional therapy and assessed balance outcomes using validated tools (e.g., Berg Balance Scale, Timed Up and Go). Data extraction, quality assessment (via RoB 2), and meta-analyses (random-effects model) were performed. Subgroup analyses evaluated the effects of stroke stage (acute/subacute vs. chronic), device type (exoskeleton vs. end- effector), and therapy dose (≥10 vs. <10 total hours).
Results: Twenty-five RCTs involving 1,362 participants were included. Pooled results demonstrated that RAGT significantly improved balance compared to conventional therapy (BBS mean difference = 3.58; 95% CI: 1.89–5.28; p < 0.001). Subgroup analysis revealed greater benefits in acute/subacute patients (MD = 5.40) and with exoskeleton devices. Training intensity was a significant moderator, with protocols ≥10 total hours yielding superior outcomes. No major adverse events were reported.
Conclusion: Robot-assisted gait training is effective in enhancing balance function in stroke survivors, particularly in the early recovery phase and when using exoskeleton systems with sufficient training intensity. While not universally superior to conventional therapy, RAGT represents a viable and safe strategy for targeted balance rehabilitation. Further long-term and cost- effectiveness studies are warranted.
References
1. Bang, D. H., & Shin, W. S. (2016). Effects of robot-assisted gait training on balance in patients with chronic stroke: A randomized controlled trial. NeuroRehabilitation, 38(1), 1–6.
2. Chen, L., Lo, W. L. A., Mao, Y. R., Ding, M. H., Lin, Q., Li, H., … & Huang, D. F. (2016). Effect of virtual reality on postural and balance control in patients with stroke: A systematic literature review. BioMed Research International, 2016, 7309272. https://doi.org/10.1155/2016/7309272
3. Cho, K. H., Lee, W. H., & Lee, S. H. (2018). Robotic gait training improves balance and functional mobility in subacute stroke patients. Journal of Physical Therapy Science, 30(6), 809–813. https://doi.org/10.1589/jpts.30.809
4. Dias, C. P., da Silva, R. A., & Gobbi, L. T. B. (2006). Effects of treadmill training with partial body weight support on postural control of hemiparetic stroke patients. Archives of Physical Medicine and Rehabilitation, 87(3), 369–373. https://doi.org/10.1016/j.apmr.2005.10.025
5. Dobkin, B. H., & Dorsch, A. (2013). New evidence for therapies in stroke rehabilitation. Current Atherosclerosis Reports, 15(6), 331. https://doi.org/10.1007/s11883-013-0331-x
6. Fisher, S., Lucas, L., & Thrasher, T. A. (2011). Robot-assisted gait training for patients with hemiparesis due to stroke. Topics in Stroke Rehabilitation, 18(3), 269–276. https://doi.org/10.1310/tsr1803-269
7. Gandolfi, M., Valè, N., Dimitrova, E., Zanolin, M. E., Mattiuz, N., Battistuzzi, E., et al. (2019). Robot-assisted stair climbing training on postural control and sensory integration in chronic post-stroke patients: A randomized controlled trial. Frontiers in Neuroscience, 13, 1143. https://doi.org/10.3389/fnins.2019.01143
8. Gutierrez, J., & Esenwa, C. (2015). Secondary stroke prevention: Challenges and solutions. Vascular Health and Risk Management, 11, 437–450. https://doi.org/10.2147/VHRM.S63839
9. Han, E. Y., Im, S. H., Kim, B. R., Seo, M. J., & Kim, M. O. (2016). Robot-assisted gait training improves pulse wave velocity and aerobic capacity in subacute stroke patients: A randomized trial. Medicine, 95(17), e5078. https://doi.org/10.1097/MD.0000000000005078
10. Hidler, J., Nichols, D., Pelliccio, M., Brady, K., Campbell, D. D., & Kahn, J. H., et al. (2009). Multicenter randomized clinical trial evaluating the effectiveness of the Lokomat in subacute stroke. Neurorehabilitation and Neural Repair, 23(1), 5–13. https://doi.org/10.1177/1545968308326632
11. Hornby, T. G., Campbell, D. D., Kahn, J. H., Demott, T., Moore, J. L., & Roth, H. R. (2008). Enhanced gait-related improvements after therapist- vs robotic- assisted locomotor training in subjects with chronic stroke. Stroke, 39(6), 1786–1792. https://doi.org/10.1161/STROKEAHA.107.502161
12. Hou, Y. R., Chiu, Y. L., Chiang, S. L., Chen, H. Y., & Sung, W. H. (2018). Feasibility of a smartphone-based balance assessment system for subjects with chronic stroke. Computer Methods and Programs in Biomedicine, 161, 191–195. https://doi.org/10.1016/j.cmpb.2018.04.003
13. Katan, M., & Luft, A. (2018). Global burden of stroke. Seminars in Neurology, 38(2), 208–211. https://doi.org/10.1055/s-0038-1649503
14. Kelly-Hayes, M., Beiser, A., Kase, C. S., Scaramucci, A., D’Agostino, R. B., & Wolf, P. A. (2003). The influence of gender and age on disability following ischemic stroke: The Framingham study. Journal of Stroke and Cerebrovascular Diseases, 12(3), 119–126. https://doi.org/10.1016/S1052-3057(03)00042-9
15. Kim, H. Y., Shin, J. H., Yang, S. P., Shin, M. A., & Lee, S. H. (2019). Robot- assisted gait training for balance and lower extremity function in patients with infratentorial stroke: A single-blinded randomized controlled trial. Journal of Neuro Engineering and Rehabilitation, 16(1), 99. https://doi.org/10.1186/s12984-019-0569-5
16. Kim, J. M., Tay, M. R. J., Rajeswaran, D. K., Tham, S.-L., Lui, W. L., & Kong, K. H. (2021). Changes in muscle architecture on ultrasound in patients early after stroke. NeuroRehabilitation, 49(4), 565–572. https://doi.org/10.3233/NRE-210174
17. Kim, J., Kim, D. Y., Chun, M. H., Kim, S. W., Jeon, H. R., & Hwang, C. H. (2018). Effects of Morning Walk-assisted gait training for stroke patients: A randomized controlled trial. Clinical Rehabilitation, 33(3), 516–523. https://doi.org/10.1177/0269215518819835
18. Kim, S. Y., Yang, L., Park, I. J., Kim, E. J., Joshua Park, M. S., You, S. H., et al. (2015). Effects of WALKBOT robotic-assisted locomotor training on balance and gait recovery in hemiparetic stroke. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(4), 636–642. https://doi.org/10.1109/TNSRE.2015.2399392
19. Liu, H. F., et al. (2019). ReoAmbulator robot-assisted gait training improves balance and mobility in subacute stroke patients. Chinese Journal of Rehabilitation Theory and Practice, 25(2), 120–123.
20. Lu, J. L., Chen, Z. M., Wu, H., Yang, W., & Wu, H. H. (2017). Effect of lower limb rehabilitation robot on motor function in hemiplegic stroke patients. Chinese Journal of Contemporary Neurology and Neurosurgery, 17, 334–339.
21. Morreale, M., Marchione, P., Pili, A., Lauta, A., Castiglia, S. F., Spallone, A.,… & Giacomini, P. (2015). Early versus delayed rehabilitation treatment in hemiplegic patients with ischemic stroke: Proprioceptive or cognitive approach? European Journal of Physical and Rehabilitation Medicine, 52(1), 81–89.
22. Nam, Y. G., Lee, J. W., Park, J. W., Lee, H. J., Nam, K. Y., Park, J. H., et al. (2018). Electromechanical exoskeleton-assisted gait training on walking ability of stroke patients: A randomized controlled trial. Archives of Physical Medicine and Rehabilitation, 100(1), 26–31. https://doi.org/10.1016/j.apmr.2018.08.177
23. Park, J. H., et al. (2020). Efficacy of robotic-assisted gait training in chronic stroke: A randomized controlled trial. Annals of Rehabilitation Medicine, 44(4), 300–308. https://doi.org/10.5535/arm.2020.44.4.300
24. Paul, S., & Candelario-Jalil, E. (2020). Emerging neuroprotective strategies for the treatment of ischemic stroke: An overview of clinical and preclinical studies. Experimental Neurology, 335, 113518. https://doi.org/10.1016/j.expneurol.2020.113518
25. Peurala, S. H., Tarkka, I. M., Pitkänen, K., & Sivenius, J. (2005). The effectiveness of body weight-supported gait training and floor walking in patients with chronic stroke. Archives of Physical Medicine and Rehabilitation, 86(8), 1557–1564. https://doi.org/10.1016/j.apmr.2004.11.034
26. Rochmah, T. N., Rahmawati, I. T., Dahlui, M., Budiarto, W., & Bilqis, N. (2021). Economic burden of stroke disease: A systematic review. International Journal of Environmental Research and Public Health, 18(14), 7552. https://doi.org/10.3390/ijerph18147552
27. Santos, M. B. D., Oliveira, C. B., Santos, A. D., Garabello Pires, C., Dylewski, V., & Arida, R. M. (2018). Robot-assisted gait training vs conventional therapy in ataxic post-stroke patients: A comparative study. Behavioural Neurology, 2018, 2892065. https://doi.org/10.1155/2018/2892065
28. Shin, J. H., Lee, Y. H., Chang, W. H., & Kim, Y. H. (2019). Effects of end- effector robot-assisted gait training on balance in patients with subacute stroke: A randomized controlled trial. Journal of Rehabilitation Research and Development, 56(2), 45–52. https://doi.org/10.1682/JRRD.2018.04.0092
29. Taveggia, G., Borboni, A., Mulé, C., Villafañe, J. H., & Negrini, S. (2016). Conflicting results of robot-assisted versus usual gait training during postacute rehabilitation of stroke patients: A randomized clinical trial. International Journal of Rehabilitation Research, 39(1), 29–35. https://doi.org/10.1097/MRR.0000000000000153
30. Veerbeek, J. M., van Wegen, E., van Peppen, R., van der Wees, P. J., Hendriks, E., Rietberg, M., & Kwakkel, G. (2014). What is the evidence for physical therapy poststroke? A systematic review and meta-analysis. PLoS ONE, 9(2), e87987. https://doi.org/10.1371/journal.pone.0087987
31. Westlake, K. P., & Patten, C. (2009). Pilot study of Lokomat versus manual- assisted treadmill training for locomotor recovery post-stroke. Journal of NeuroEngineering and Rehabilitation, 6, 18. https://doi.org/10.1186/1743-0003-6-18
32. Yun, N., Joo, M. C., & Kim, S. C. (2018). Robot-assisted gait training effectively improved lateropulsion in subacute stroke patients. European Journal of Physical and Rehabilitation Medicine, 54(6), 827–836. https://doi.org/10.23736/S1973-9087.18.04994-9
33. Zhang, X., Yue, Z., & Wang, J. (2017). Robotics in lower-limb rehabilitation after stroke. Behavioural Neurology, 2017, 3731802. https://doi.org/10.1155/2017/3731802
34. Zhou, L., et al. (2020). Effectiveness of Morning Walk on balance and mobility in subacute stroke: A randomized controlled trial. Chinese Journal of Rehabilitation Medicine, 35(4), 408–412.
Downloads
Published
Issue
Section
License
Copyright (c) 2025 American Journal of Psychiatric Rehabilitation

This work is licensed under a Creative Commons Attribution 4.0 International License.
This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License permitting all use, distribution, and reproduction in any medium, provided the work is properly cited.