Table 4 Longitudinal changes in gait parameters in the RT and CT groups

Stride length of affected side (m)

Robot

0.43\(\:\pm\:\)0.32

0.56\(\:\pm\:\)0.14

0.64\(\:\pm\:\)0.16

0.015*

0.030*

0.096

0.003*

0.292

0.002*

0.198

Control

0.42\(\:\pm\:\)0.32

0.42\(\:\pm\:\)0.33

0.50\(\:\pm\:\)0.33

0.218

0.935

0.087

0.181

Stride length of unaffected side (m)

Robot

0.48\(\:\pm\:\)0.37

0.56\(\:\pm\:\)0.14

0.71\(\:\pm\:\)0.14

0.008*

0.320

0.014*

0.005*

0.311

0.001*

0.394

Control

0.47\(\:\pm\:\)0.32

0.42\(\:\pm\:\)0.33

0.59\(\:\pm\:\)0.29

0.010*

0.505

0.003*

0.075

Cadence (steps/min)

Robot

44.68\(\:\pm\:\)31.38

59.67\(\:\pm\:\)12.98

64.44\(\:\pm\:\)15.47

0.008*

0.004*

0.213

0.002*

0.527

< 0.001

0.167

Control

45.44\(\:\pm\:\)30.59

47.42\(\:\pm\:\)31.04

59.07\(\:\pm\:\)27.05

0.010*

0.659

0.002*

0.019*

Gait speed (m/s)

Robot

0.24\(\:\pm\:\)0.21

0.31\(\:\pm\:\)0.13

0.37\(\:\pm\:\)0.13

0.016*

0.034*

0.044*

0.004*

0.510

< 0.001

0.409

Control

0.23\(\:\pm\:\)0.20

0.24\(\:\pm\:\)0.20

0.32\(\:\pm\:\)0.24

0.010*

0.768

0.002*

0.017*

Support phase of the affected side (%)

Robot

53.28\(\:\pm\:\)34.73

76.21\(\:\pm\:\)5.92

72.42\(\:\pm\:\)4.19

0.011*

0.003*

0.464

0.029*

0.231

0.024*

0.067

Control

55.38\(\:\pm\:\)30.01

54.76\(\:\pm\:\)32.66

62.73\(\:\pm\:\)24.93

0.277

0.925

0.106

0.353

Toe-off angle of the affected side (°)

Robot

12.59\(\:\pm\:\)9.54

17.63\(\:\pm\:\)7.29

17.11\(\:\pm\:\)8.08

0.035*

0.009*

0.729

0.045*

0.080

0.013*

0.144

Control

9.13\(\:\pm\:\)8.20

9.28\(\:\pm\:\)8.52

12.65\(\:\pm\:\)11.31

0.082

0.931

0.026*

0.101

Foot strike angle of the affected side (°)

Robot

8.33\(\:\pm\:\)6.46

12.33\(\:\pm\:\)5.16

17.11\(\:\pm\:\)8.08

0.006*

0.002*

0.510

0.004*

0.026*

0.001*

0.079

Control

6.16\(\:\pm\:\)5.00

6.03\(\:\pm\:\)5.14

12.65\(\:\pm\:\)11.31

0.095

0.908

0.107

0.029*