Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

Background  

Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incomplete spinal cord injury (iSCI).     

Active robotic training improves locomotor function in a stroke survivor

ABSTRACT: BACKGROUND: Clinical outcomes after robotic training are often not superior to conventional therapy. One key factor responsible for this is the use of control strategies that provide substantial guidance. This strategy not only leads to a reduction in volitional physical effort, but also interferes with motor relearning. METHODS: We tested the feasibility of a novel training approach (active robotic training) using a powered gait orthosis (Lokomat) in mitigating post-stroke gait impairments of a 52-year-old male stroke survivor. This gait training paradigm combined patient-cooperative robot-aided walking with a target-tracking task. The training lasted for 4-weeks (12 visits, 3 [MULTIPLICATION SIGN] per week). The subject's neuromotor performance and recovery were evaluated using biomechanical, neuromuscular and clinical measures recorded at various time-points (pre-training, post-training, and 6-weeks after training). RESULTS: Active robotic training resulted in considerable increase in target-tracking accuracy and reduction in the kinematic variability of ankle trajectory during robot-aided treadmill walking. These improvements also transferred to overground walking as characterized by larger propulsive forces and more symmetric ground reaction forces (GRFs). Training also resulted in improvements in muscle coordination, which resembled patterns observed in healthy controls. These changes were accompanied by a reduction in motor cortical excitability (MCE) of the vastus medialis, medial hamstrings, and gluteus medius muscles during treadmill walking. Importantly, active robotic training resulted in substantial improvements in several standard clinical and functional parameters. These improvements persisted during the follow-up evaluation at 6 weeks. CONCLUSIONS: The results indicate that active robotic training appears to be a promising way of facilitating gait and physical function in moderately impaired stroke survivors.     

不完全性脊髓损伤患者与健康人步态变异性、对称性和协调性的对照研究

目的：通过观察不完全性脊髓损伤患者的步态变异性、对称性和协调性，更加全面了解脊髓损伤患者的步态特点。方法：选取22例不完全性脊髓损伤患者（观察组）及健康人（对照组），健康人按正常歩速及匹配患者速度行走分为（对照组A）及（对照组B），采用三维运动采集系统及足底压力采集系统进行步态测试。用步态变异值、对称值和相位协调指数表示步态变异性、对称性和协调性，比较3组受试者步态变异性、对称性和协调性的差异及与步行功能相关性。结果：观察组的步长变异值、站立相变异值及迈步相变异值均高于对照组A，观察组的步长对称值、站立相对称值、迈步相对称值和相位协调指数均低于对照组，且差异有统计学意义（P＜0.05）。观察组的步态变异值、对称值和相位协调指数与脊髓损伤步行能力负相关。多元线性回归分析显示站立相变异值、站立相对称值和PCI对WISCI-II步行指数均有显著负影响，PCI对FIM步行指数有显著负相影响。结论：不完全性脊髓损伤患者的步态变异性、对称性和协调性均低于健康人，在为不完全性脊髓损伤患者制定康复训练方案时，应考虑步态变异性、对称性和协调性等指标对步行功能的影响。     

Human-centered robotics applied to gait training and assessment

Robot-aided gait training can increase the duration and number of training sessions while reducing the number of therapists required for each patient. However, current automated gait trainers do not adapt their movement to the patient's muscular efforts and passive musculoskeletal properties. Furthermore, robot-aided training without therapists lacks the feedback required for patient assessment. In this article, we present results from the literature and our research to provide an overview of novel human-centered strategies for robot behaviors that are patient-cooperative and support motor-function assessment. Combining robot-aided training with robot-aided assessment will likely make future gait therapy easier, more comfortable, and more efficient. Broad clinical testing is still required for proving this assumption.     

Lokomat全自动机器人步态训练与评定系统对不完全性脊髓损伤患者步行功能的影响

背景：机器人设备能够在精确控制的环境下为患者提供安全可重复性的高强度较长时间的步态训练,其在康复领域的应用有其明显的优势。目的：探讨Lokomat-全自动机器人步态训练与评定系统在改善不完全性脊髓损伤患者步行功能方面的作用。方法：2名男性不完全性脊髓损伤患者参加Lokomat步态训练5.5个月,于训练前、训练后6,12周及训练5.5个月后对患者进行下肢运动功能评分（Lower Extremity Motor Scores,LEMS）、10m最快步速、6min步行耐力及Berg平衡量表测试。结果与结论：两名患者经过Lokomat自动步态训练,虽然LEMS分数无明显提高,但其10m最快步速、6min步行耐力、Berg平衡量表评分均较训练前改善。这说明机器人自动步态训练能够有助于改善不完全性脊髓损伤患者的步行能力。     

机器人模式设计对脊髓损伤患者步态的影响

背景：治疗师帮助的减重运动平板训练方法是一种效果较好的步态训练方法,但因其对治疗师体力消耗较大,且人员需要较多,临床应用受到一定限制。机器人帮助的减重运动平板训练受到广泛关注。目的：总结机器人在脊髓损伤患者步态康复中的作用及其对下肢运动及肌肉活动模式的影响。方法：由第一作者检索PubMed数据库（http：//www.ncbi.nlm.nih.gov/PubMed）1995-01/2010-12涉及机器人、Lokomat、减重运动平板训练及脊髓损伤步态康复内容的文献,英文关键词为＂spinal cord injury, gait, walking, locomotor, locomotion,rehabilitation,robot,robotic,Lokomat＂,排除陈旧性、重复性文献,保留30篇文献归纳总结。结果与结论：虽然到时目前为止还没有证据证明机器人运动训练方法优越于其他方法,但其在脊髓损伤康复领域的应用也有明显的优势。机器人设备对下肢运动的被动引导及固定步行模式的重复训练不利于患者最大自主肌力的发挥及步行循环周期之间的变动,不能做到治疗师那样敏感地感受患者的运动表现。治疗师只有全面了解机器人设备并根据患者的运动能力不断调整训练参数,以致使患者在精确控制环境下最大限度地发挥自主运动能力,才能获得最佳的运动训练效果。     

下肢步行机器人对脊髓损伤后日常生活能力及步行能力的影响

目的:探讨下肢步行机器人对脊髓损伤后日常生活能力及步行能力的影响。方法:颈胸段脊髓损伤患者40例随机分为2组各20例。对照组进行常规的运动治疗,内容包括肌力训练、牵伸训练、平衡训练、转移、站立训练、步行及步态训练等;观察组增加步行机器人训练。于治疗前和治疗6周、12周后,采用6min步行距离、改良Barthel指数(MBI)和功能独立性评测(FIM)对患者进行评定,并重点关注其中的步行项及上下楼梯项。结果:治疗6及12周后,2组患者MBI、FIM总分及2个量表中的步行项、上下楼梯项分值,6min步行距离测试分值均较治疗前呈逐渐提高(均P0.05),且观察组优于对照组(均P0.05)。结论:常规运动治疗结合步行机器人训练可明显改善C-D级脊髓损伤患者步行能力及ADL分值。     

机器人模式设计对脊髓损伤患者步态的影响

背景:治疗师帮助的减重运动平板训练方法是一种效果较好的步态训练方法,但因其对治疗师体力消耗较大,且人员需要较多,临床应用受到一定限制.机器人帮助的减重运动平板训练受到广泛关注.目的:总结机器人在脊髓损伤患者步态康复中的作用及其对下肢运动及肌肉活动模式的影响.方法:由第一作者检索PubMed数据库(http://www.ncbi.nlm.nih.gov/PubMed)1995-01/2010-12涉及机器人、Lokomat、减重运动平板训练及脊髓损伤步态康复内容的文献,英文关键词为“spinal cord injury,gait,walking,locomotor,locomotion,rehabilitation,robot,robotic,Lokomat ",排除陈旧性、重复性文献,保留30篇文献归纳总结.结果与结论:虽然到时目前为止还没有证据证明机器人运动训练方法优越于其他方法,但其在脊髓损伤康复领域的应用也有明显的优势.机器人设备对下肢运动的被动引导及固定步行模式的重复训练不利于患者最大自主肌力的发挥及步行循环周期之间的变动,不能做到治疗师那样敏感地感受患者的运动表现.治疗师只有全面了解机器人设备并根据患者的运动能力不断调整训练参数,以致使患者在精确控制环境下最大限度地发挥自主运动能力,才能获得最佳的运动训练效果.     

重心移动式截瘫步行矫形器对脊髓损伤患者日常生活活动能力及生存质量的影响

目的：了解装配重心移动式截瘫步行矫形器（AGO）后脊髓损伤患者日常生活活动能力（ADL）及生存质量（QOL）情况,证实AGO的应用价值。方法：完全性胸腰段脊髓损伤患者58例,按住院先后顺序及装配矫形器类型分为AGO组（27例）、交替迈步式步行矫形器（RGO）组（15例）、膝踝足矫形器（KAFO）组（6例）和对照组（10例）。各组均进行8周常规训练,包括肌力训练、平衡训练、转移训练、轮椅使用训练、ADL训练等,并在常规康复治疗的基础上使用步行矫形器并进行针对性步行训练6—8周。分别于入院时、装配矫形器前、装配矫形器后8周进行ADL评定和QOL评定。结果：组内比较,各组经常规康复治疗后ADL能力及QOL（生理及心理方面）均有所改善,治疗前后对比具有显著性意义（P<0.01）。组间比较, AGO组、RGO组在改善ADL能力和QOL-生理及心理方面优于KAFO组（P<0.05）和对照组（P<0.01）,AGO组与RGO组相比无显著性意义（P>0.05）,但在QOL-人际关系和周围环境方面,各组治疗前后均无明显改变。结论：AGO与进口截瘫步行矫形器一样在改善ADL和QOL方面有着良好的效果,但其价格便宜,可以广泛应用。     

下肢外骨骼机器人在重建不完全性脊髓损伤患者步行功能中的应用和研究进展

重建运动功能对不完全性脊髓损伤患者非常重要,主要取决于自身的恢复和有效的康复.康复工程学正努力研发用于辅助步行功能训练的下肢外骨骼机器人.过去10年中,用于重建步行功能训练的下肢外骨骼机器人已有了很大发展,本文综述用于恢复患者步行功能和治疗师评估运动康复疗效的一些新技术和应用.     

Efficacy of rehabilitation robotics for walking training in neurological disorders: a review

Robotic technologies are becoming more prevalent for treating neurological conditions in clinical settings. We conducted a literature search of original articles to identify all studies that examined the use of robotic devices for restoring walking function in adults with neurological disorders. We evaluated and rated each study using either the Physiotherapy Evidence Database scale for randomized controlled trials (RCTs) or the Downs and Black scale for non-RCTs. We reviewed 30 articles (14 RCTs, 16 non-RCTs) that examined the effects of locomotor training with robotic assistance in patients following stroke, spinal cord injury (SCI), multiple sclerosis (MS), traumatic brain injury (TBI), and Parkinson disease (PD). This review supports that locomotor training with robotic assistance is beneficial for improving walking function in individuals following a stroke and SCI. Gait speed and endurance were not found to be significantly different among patients with motor incomplete SCI after a variety of locomotor training approaches. Limited evidence demonstrates that locomotor training with robotic assistance is beneficial in populations of patients with MS, TBI, or PD. We discuss clinical implications and decision making in the area of gait rehabilitation for neurological dysfunction.     

Functional electric stimulation to augment partial weight-bearing supported treadmill training for patients with acute incomplete spinal cord injury: A pilot study

OBJECTIVE: To study the application of partial weight-bearing (PWB) supported treadmill gait training augmented by functional electric stimulation (FES) in subjects with acute incomplete spinal cord injury (SCI). DESIGN: Before-after crossover trial with control (A) and intervention (B) periods. SETTING: Physiotherapy (PT) department of a spinal injuries unit in Scotland. PARTICIPANTS: Fourteen inpatients with acute incomplete SCI with American Spinal Injury Association class C or D injury. INTERVENTION: Training consisted of treadmill walking with PWB support augmented by FES. Subjects walked on the treadmill for up to 25 minutes a day, 5 days a week for 4 weeks. The intervention was compared with a 4-week control period in which standard PT was given. MAIN OUTCOME MEASURES: Overground walking endurance and speed, cadence, stride length, and observational gait analysis and walking speed, distance, and percentage PWB support on the treadmill. RESULTS: A greater increase in overground walking endurance was achieved after the intervention (AB group mean, 72.2m; confidence interval [CI], 39.8-104.6m; BA group mean, 63.8m; CI, -10.2 to 137.9m), as compared with after standard PT (AB group mean, 38.4m; CI, 1.8-75.0m; BA group mean, 60.1m; CI, 9.2-110.9m). A similar pattern was observed for overground walking speed. CONCLUSIONS: This pilot study indicated that PWB supported treadmill training with FES had a positive effect on overground gait parameters and could potentially accelerate gait training in subjects with incomplete SCI. A larger randomized trial is required to substantiate these findings.     

Effects of Epidural Spinal Cord Stimulation and Treadmill Training on Locomotion Function and Ultrastructure of Spinal Cord Anterior Horn after Moderate Spinal Cord Injury in Rats

Objective:To investigate the effects of epidural spinal cord stimulation (ESCS) and treadmill training on the locomotion function and ultrastructure of spinal cord anterior horn after moderate spinal cord injury in rats.Method:Nine adult female Sprague-Dawley rats were randomly distributed into three groups: ①spinal cord injury group (SI, n=3). ②spinal cord injury plus ESCS group (SE, n=3). ③spinal cord injury plus treadmill training group (TT, n=3). All rats received a moderate spinal cord injury surgery. Four weeks after surgery, rats in SE group received an electrode implantation procedure, with the electrode field covering spinal cord segments L2—S1. Four weeks after electrode implantation, rats received subthreshold ESCS for 30 min/d. Rats in TT group received 4cm/s treadmill training for 30min/d. Rats in SI group received no intervention, as a control group. All procedures in these three groups lasted four weeks.The open field Basso,Beattie and Bresnahan(BBB) scale was used before and after intervention to evaluate rats′ hindlimb motor function. Result:After four weeks intervention, rats in TT group improved their open field locomotion scores to 20. In contrast, no significant improvement was observed in groups SI and SE. The morphology of synapses and neurons were similar regardless of whether rats had undergone ESCS, treadmill training or not. Conclusion:ESCS alone was not sufficient to improve the walking ability of spinal cord injured rats. ESCS or treadmill training alone might not contribute to the changes of ultrastructure in anterior horn of spinal cord that underlie the recovery of walking ability. Further research is needed to understand the contributions of combination of ESCS and treadmill training to the rehabilitation of spinal cord injured rats.     

不同步行矫形器在下胸段脊髓损伤中的应用探讨

探讨三种不同步行矫形器在下胸段脊髓损伤中的应用及对患者步行能力的影响。方法:T10-12完全性脊髓损伤患者16例,在装配步行矫形器前进行强化康复训练与治疗(包括肌力、心肺功能、转移、ADL、膀胱功能等),其中5例装配KAFO(KAFO组),5例装配Walkabout(Walkabout组),6例装配RGO(RGO组),矫形器装配后配合步态步行训练;分别于矫形器装配前和装配训练8周后应用ASIA运动评分、MBI及限时的步行功能检查(包括6min步行评测和10m步行时间评测)作为指标进行观察。结果:3组患者ASIA运动评分矫形器装配前后及组间比较差异无显著性意义(P>0.05),ADL(MBI)评分装配前后比较差异有显著性意义(P<0.01)、组间比较差异无显著性意义(P>0.05);装配训练8周后步行能力评分比较,Walkabout组与KAFO组差异具有显著性意义(P<0.01),RGO组与Walkabout组和KAFO组比较差异均具有显著性意义(P<0.01)。结论:步行矫形器与功能训练相结合对改善下胸段脊髓损伤患者的步行能力疗效显著,Walkabout和KAFO可恢复患者治疗性步行能力,而RGO则在恢复患者功能性步行能力方面效果理想。     

依据神经康复原则应用机器人对脑卒中和脑外伤患者上肢运动功能障碍的康复训练

目的 观察康复机器人辅助训练对脑卒中和脑外伤患者的上肢运动功能障碍的影响。方法 22名患者参加了这项研究，训练前4周、训练开始前1 d和训练结束后1 d分别进行评价。研究方法为基线对照研究方法。使用Fugl-Meyer（FM）运动功能量表上肢部分和运动状态量表（MSS）评价患者的运动功能。患者2种训练模式轨迹为直线训练方法与圆周训练方法。训练时间为4周，每周训练5 d，每次45 min。结果 患者的运动轨迹与功能水平有一定的相关性，机器人训练前、后患者上肢FM运动功能和MSS评分差异有统计学意义（P〈0．01）。结论 机器人辅助训练可以减轻脑卒中和脑外伤患者上肢残损程度，应用上肢复合运动康复机器人对脑损伤患者上肢运动功能障碍进行康复训练能取得良好疗效。     

Supported treadmill ambulation training after spinal cord injury: a pilot study

OBJECTIVES: To conduct a pilot study of weight-supported ambulation training after incomplete spinal cord injury (SCI), and to assess its safety. DESIGN: Quasiexperimental, repeated measures, single group. SETTING: Veterans Affairs medical center. PATIENTS: Three subjects with incomplete, chronic, thoracic SCIs; 2 classified as D on the American Spinal Injury Association (ASIA) impairment scale and 1 as ASIA impairment scale C. INTERVENTION: Subjects participated in 12 weeks of training assisted by 2 physical therapists. The training consisted of walking on a treadmill while supported by a harness and a pneumatic suspension device. Support started at 40% of body weight and a treadmill speed of.16kmph, and progressed by reducing support and increasing treadmill speed and continuous treadmill walking time up to 20 minutes. Training was conducted for 1 hour per day, 5 days per week for 3 months. Treadmill walking occurred for 20 minutes during the sessions. MAIN OUTCOME MEASURES: Gait function (speed, endurance, walking status, use of assistive device and orthotics); oxygen costs of walking; brain motor control assessment; self-report indices; ASIA classification; muscle function test; and safety. RESULTS: All 3 subjects increased gait speed (.118m/s initially to.318m/s after training 12wk), and gait endurance (20.3m/5min initially to 63.5m/5min). The oxygen costs decreased from 1.96 to 1.33mL x kg(-1) x m(-1) after 12 weeks of training. CONCLUSIONS: This pilot study suggests that supported treadmill ambulation training can improve gait for individuals with incomplete SCIs by using objective gait measures. The self-report indices used have promise as patient-centered outcome measures of this new form of gait training. A larger, controlled study of this technique is warranted.     

Locomotor training after human spinal cord injury: a series of case studies

Many individuals with spinal cord injury (SCI) do not regain their ability to walk, even though it is a primary goal of rehabilitation. Mammals with thoracic spinal cord transection can relearn to step with their hind limbs on a treadmill when trained with sensory input associated with stepping. If humans have similar neural mechanisms for locomotion, then providing comparable training may promote locomotor recovery after SCI. We used locomotor training designed to provide sensory information associated with locomotion to improve stepping and walking in adults after SCI. Four adults with SCIs, with a mean postinjury time of 6 months, received locomotor training. Based on the American Spinal Injury Association (ASIA) Impairment Scale and neurological classification standards, subject 1 had a T5 injury classified as ASIA A, subject 2 had a T5 injury classified as ASIA C, subject 3 had a C6 injury classified as ASIA D, and subject 4 had a T9 injury classified as ASIA D. All subjects improved their stepping on a treadmill. One subject achieved overground walking, and 2 subjects improved their overground walking. Locomotor training using the response of the human spinal cord to sensory information related to locomotion may improve the potential recovery of walking after SCI.     

Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study

Wu M, Landry JM, Schmit BD, Hornby TG, Yen S-C. Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study.ObjectiveTo determine whether cable-driven robotic resistance treadmill training can improve locomotor function in humans with incomplete spinal cord injury (SCI).DesignRepeated assessment of the same patients with crossover design.SettingResearch units of rehabilitation hospitals in Chicago.ParticipantsPatients with chronic incomplete SCI (N=10) were recruited to participate in this study.InterventionsSubjects were randomly assigned to 1 of 2 groups. One group received 4 weeks of assistance training followed by 4 weeks of resistance training, while the other group received 4 weeks of resistance training followed by 4 weeks of assistance training. Locomotor training was provided by using a cable-driven robotic locomotor training system, which is highly backdrivable and compliant, allowing patients the freedom to voluntarily move their legs in a natural gait pattern during body weight supported treadmill training (BWSTT), while providing controlled assistance/resistance forces to the leg during the swing phase of gait.Main Outcome MeasuresPrimary outcome measures were evaluated for each participant before training and after 4 and 8 weeks of training. Primary measures were self-selected and fast overground walking velocity and 6-minute walking distance. Secondary measures included clinical assessments of balance, muscle tone, and strength.ResultsA significant improvement in walking speed and balance in humans with SCI was observed after robotic treadmill training using the cable-driven robotic locomotor trainer. There was no significant difference in walking functional gains after resistance versus assistance training, although resistance training was more effective for higher functioning patients.ConclusionsCable-driven robotic resistance training may be used as an adjunct to BWSTT for improving overground walking function in humans with incomplete SCI, particularly for those patients with relatively high function.     

步行矫形器对腰2节段A-B级脊髓损伤患者步行能力的影响

目的 观察穿戴膝踝足矫形器（KAFO）和截瘫步行矫形器（WO）对腰2节段A-B级脊髓损伤步行能力及生理消耗指数(PCI)的影响。 方法 纳入30例腰2节段A-B级脊髓损伤患者,年龄20～45岁,根据患者穿戴的步行矫形器不同,按随机数字表法分为KAFO组（穿戴KAFO）和WO组（穿戴WO）,每组15例,2组患者均行常规康复治疗,包括肌肉力量训练、关节活动度维持训练、站立床训练、平衡训练、坐位下重心转移训练、日常生活活动训练以及电疗和针灸等。在穿戴步行矫形器后,KAFO组及WO组患者穿戴相应的步行矫形器进行步行训练,每日训练60 min,每周6 d,共12周;并对比2组患者穿戴不同步行矫形器第2周和第12周后的步长、步速、步频、10 m步行时间、6 min步行距离及PCI。 结果 经常规康复治疗后,KAFO组和WO组患者在穿戴不同步行矫形器步行训练第12周后的步长［（43.45±12.33）和（46.21±11.45）cm］、步速［（44.74±10.32）和（50.18±9.56）cm/s］、步频［（45.29±14.11）和（48.14±15.32）步/min］、10 m步行时间［（20.89±19.22）和（17.33±18.26）s］、6 min步行距离［（391.12±100.89）和（480.56±108.12）m］及PCI［（0.89±0.86）和（0.50±0.53）次/m］较训练第2周后的步长［（40.12±15.11）和（45.65±13.12）cm］、步速［（36.74±11.29）和（39.12±12.35）cm/s］、步频［（42.34±14.23）和（44.58±13.87）步/min］、10 m步行时间［（27.14±18.15）和（25.02±17.19）s］、6 min步行距离［（350.15±110.23）和（430.10±99.23）m］、PCI［（1.67±0.72）和（0.91±0.81）次/m］均有明显改善。组内比较,除WO组的步长差异无统计学意义（P>0.05）外, 2组患者的上述各项观察指标组内差异均有统计学意义（P<0.05）;而且2组患者在穿戴步行矫形器的同时间点上述各项观察指标组间比较,差异均有统计学意义（P<0.05）。 结论 KAFO和WO两种步行矫形器对腰2节段A-B级脊髓损伤的步行参数、步行能力及PCI均有明显改善作用,且WO较KAFO更具有优势。     

功能性电刺激结合快速步行训练对脑卒中偏瘫患者功能的影响

目的:观察功能性电刺激结合快速步行训练对脑卒中偏瘫后遗症期患者社区性步行能力及生理耗能的影响。方法:将30例脑卒中偏瘫足下垂患者随机分为观察组和对照组各15例,均接受神经内科常规药物及康复功能训练;观察组采用功能性电刺激(FES)结合快速步行训练,FES刺激患侧腓总神经和胫前肌;对照组采用常规的减重跑台快速步行训练。分别在治疗前、治疗后评定6分钟步行距离(6MWD)及生理耗能指数(PCI)。结果:治疗4周后,2组PCI较治疗前有显著降低(P0.05),6MWD均较治疗前显著增加(P0.05);静息心率治疗前后比较差值无统计学意义。2组治疗后,观察组的PCI明显低于对照组(P0.05),而6MWD、静息心率组间差异无统计学意义。结论:功能性电刺激结合快速步行训练和传统的减重跑台快速步行训练都能够显著改善脑卒中偏瘫后遗症期患者的社区性步行能力及生理耗能;功能性电刺激结合快速步行训练降低生理耗能更明显。