- ICH GCP
- US Clinical Trials Registry
- Clinical Trial NCT04550728
Hybrid Robot+FES Stroke Rehablitation
November 8, 2023 updated by: Li-Qun Zhang, University of Maryland, Baltimore
Assessment Followed by Home-based Hybrid Robot + FES Rehabilitation Post-stroke
The investigators have developed a novel robot-guided stretching under intelligent control and combine it with active movement training, which helped increase joint ROM, reduce spasticity and joint stiffness, increase muscle force output, and improve locomotion.
However, for stroke survivors with sensorimotor impairment, their peripheral muscle may not sufficiently be recruited.
Functional electrical stimulation (FES), has been shown its advantage to activate the peripheral muscles for people with neurological conditions.
The investigators thus make a hybrid robot-FES rehabilitation system, combining the advantage of robot and FES technologies for stroke motor recovery.
The investigators further would like to translate the technologies from lab to home-based training.
Thus, the investigators will conduct a randomized, controlled, primarily home-based clinical trial using an ankle robot alone or combined with functional electrical stimulation (FES) to treat sensorimotor and locomotion impairments post-stroke.
Study Overview
Status
Recruiting
Conditions
Study Type
Interventional
Enrollment (Estimated)
60
Phase
- Not Applicable
Contacts and Locations
This section provides the contact details for those conducting the study, and information on where this study is being conducted.
Study Contact
- Name: Li-qun Zhang, PhD
- Phone Number: 410 706 2145
- Email: L-Zhang@som.umaryland.edu
Study Locations
-
-
Maryland
-
Baltimore, Maryland, United States, 21201
- Recruiting
- University of Maryland School of Medicine
-
Contact:
- Li-Qun Zhang, PhD
-
-
Participation Criteria
Researchers look for people who fit a certain description, called eligibility criteria. Some examples of these criteria are a person's general health condition or prior treatments.
Eligibility Criteria
Ages Eligible for Study
16 years to 83 years (Adult, Older Adult)
Accepts Healthy Volunteers
No
Description
Inclusion Criteria:
- 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 Criteria:
- 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.
Study Plan
This section provides details of the study plan, including how the study is designed and what the study is measuring.
How is the study designed?
Design Details
- Primary Purpose: Treatment
- Allocation: Randomized
- Interventional Model: Parallel Assignment
- Masking: Single
Arms and Interventions
Participant Group / Arm |
Intervention / Treatment |
---|---|
Experimental: FES+robot
Participants in this group will have FES during ankle robot training
|
Patients will use the ankle robot device as the ankle training group.
Also, water-based FES electrodes positioned inside a soft garment will be secured over the DF and PF muscles by wrapping the garment around the leg just below the knee joint.
Stimulation intensity will be increased to maximal tolerance of each participant.
Electrically induced contraction timing will be triggered by the ankle robot in synchrony with the ankle dorsi and plantar flexion movements.
|
Active Comparator: Robot
Participants in this group will have ankle robot training only
|
Patients will be seated with the paretic foot strapped to the footplate the knee at full extension.
The operator will set up and measure (using the robot) ankle passive DF and PF ROM limits.
The robot training will include passive stretching, robot interactive game-based training, and cool-down stretching.
|
What is the study measuring?
Primary Outcome Measures
Outcome Measure |
Measure Description |
Time Frame |
---|---|---|
Fugl-Meyer Lower Extremity
Time Frame: Baseline
|
The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.
|
Baseline
|
Fugl-Meyer Lower Extremity
Time Frame: 6 weeks
|
The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.
|
6 weeks
|
Fugl-Meyer Lower Extremity
Time Frame: 12 weeks
|
The assessment is a measure of lower extremity (LE) motor and sensory impairments post-stroke.
|
12 weeks
|
Dorsiflexion active range of motion
Time Frame: Baseline
|
Joint ankle active range of motion measured by ankle robot.
|
Baseline
|
Dorsiflexion active range of motion
Time Frame: 6 weeks
|
Joint ankle active range of motion measured by ankle robot.
|
6 weeks
|
Dorsiflexion active range of motion
Time Frame: 12 weeks
|
Joint ankle active range of motion measured by ankle robot.
|
12 weeks
|
6 minutes walking test
Time Frame: Baseline
|
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.
|
Baseline
|
6 minutes walking test
Time Frame: 6 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 weeks
|
6 minutes walking test
Time Frame: 12 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.
|
12 weeks
|
Medical thickness of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: Baseline
|
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.
|
Baseline
|
Medical thickness of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: 6 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.
|
6 week
|
Medical thickness of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: 12 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.
|
12 week
|
Muscle fiber penation angle of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: Baseline
|
B-model ultrasound will be used to scan the muscle and the image will be further proceeded to measure the muscle fiber penation angle with unit in degree.
|
Baseline
|
Muscle fiber penation angle of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: 6 week
|
B-model ultrasound will be used to scan the muscle and the image will be further proceeded to measure the muscle fiber penation angle with unit in degree.
|
6 week
|
Muscle fiber penation angle of medial gastrocnemius muscle and tibial anterior muscle
Time Frame: 12 week
|
B-model ultrasound will be used to assess the muscle thickness, muscle fiber pennation angle.
Elasticity will be measured using ultrasound elastography.
|
12 week
|
Secondary Outcome Measures
Outcome Measure |
Measure Description |
Time Frame |
---|---|---|
Timed up-to-go
Time Frame: Baseline
|
The Timed Up and Go test (TUG) is a simple test used to assess a person's mobility and requires both static and dynamic balance.
It uses the time that a person takes to rise from a chair, walk three meters, turn around, walk back to the chair, and sit down.
|
Baseline
|
Timed up-to-go
Time Frame: 6 weeks
|
The Timed Up and Go test (TUG) is a simple test used to assess a person's mobility and requires both static and dynamic balance.
It uses the time that a person takes to rise from a chair, walk three meters, turn around, walk back to the chair, and sit down.
|
6 weeks
|
Timed up-to-go
Time Frame: 12 weeks
|
The Timed Up and Go test (TUG) is a simple test used to assess a person's mobility and requires both static and dynamic balance.
It uses the time that a person takes to rise from a chair, walk three meters, turn around, walk back to the chair, and sit down.
|
12 weeks
|
Stroke Rehabilitation Assessment of Movement (STREAM)
Time Frame: baseline
|
Stroke Rehabilitation Assessment of Movement Measure (STREAM) provides therapists with a quantitative measurement of motor functioning and basic mobility deficits among patients who had a stroke through the performance of 30 voluntary motor tasks of the upper extremities (UE) and lower extremities (LE).
|
baseline
|
Stroke Rehabilitation Assessment of Movement (STREAM)
Time Frame: 6 weeks
|
Stroke Rehabilitation Assessment of Movement Measure (STREAM) provides therapists with a quantitative measurement of motor functioning and basic mobility deficits among patients who had a stroke through the performance of 30 voluntary motor tasks of the upper extremities (UE) and lower extremities (LE).
|
6 weeks
|
Stroke Rehabilitation Assessment of Movement (STREAM)
Time Frame: 12 weeks
|
Stroke Rehabilitation Assessment of Movement Measure (STREAM) provides therapists with a quantitative measurement of motor functioning and basic mobility deficits among patients who had a stroke through the performance of 30 voluntary motor tasks of the upper extremities (UE) and lower extremities (LE).
|
12 weeks
|
Brief Balance Evaluation Systems Test(Brief-BESTest)
Time Frame: baseline
|
The Brief BESTest is a clinical balance assessment tool.
It is an abbreviated version of Balance Evaluation Systems Test (BESTest), designed to assess 6 different aspects contributing to postural control in standing and walking.
|
baseline
|
Brief Balance Evaluation Systems Test(Brief-BESTest)
Time Frame: 6 weeks
|
The Brief BESTest is a clinical balance assessment tool.
It is an abbreviated version of Balance Evaluation Systems Test (BESTest), designed to assess 6 different aspects contributing to postural control in standing and walking.
|
6 weeks
|
Brief Balance Evaluation Systems Test(Brief-BESTest)
Time Frame: 12 weeks
|
The Brief BESTest is a clinical balance assessment tool.
It is an abbreviated version of Balance Evaluation Systems Test (BESTest), designed to assess 6 different aspects contributing to postural control in standing and walking.
|
12 weeks
|
Modified Ashworth Scale (MAS)
Time Frame: baseline
|
The Modified Ashworth Scale is the most widely used assessment tool to measure resistance to limb movement in a clinic setting.
Scores range from 0-4, with 6 choices.
0 (0) - No increase in muscle tone; 1 (1) - Slight increase in muscle tone, manifested by a catch and release or by minimal resistance at the end of the range of motion when the affected part(s) is moved in flexion or extension; 1+ (2) - Slight increase in muscle tone, manifested by a catch, followed by minimal resistance throughout the remainder (less than half) of the range of movement (ROM); 2 (3) - More marked increase in muscle tone through most of the ROM, but affect part(s) easily moved; 3 (4) - Considerable increase in muscle tone passive, movement difficult; 4 (5) - Affected part(s) rigid in flexion or extension.
|
baseline
|
Modified Ashworth Scale (MAS)
Time Frame: 6 weeks
|
The Modified Ashworth Scale is the most widely used assessment tool to measure resistance to limb movement in a clinic setting.
Scores range from 0-4, with 6 choices.
0 (0) - No increase in muscle tone; 1 (1) - Slight increase in muscle tone, manifested by a catch and release or by minimal resistance at the end of the range of motion when the affected part(s) is moved in flexion or extension; 1+ (2) - Slight increase in muscle tone, manifested by a catch, followed by minimal resistance throughout the remainder (less than half) of the range of movement (ROM); 2 (3) - More marked increase in muscle tone through most of the ROM, but affect part(s) easily moved; 3 (4) - Considerable increase in muscle tone passive, movement difficult; 4 (5) - Affected part(s) rigid in flexion or extension.
|
6 weeks
|
Modified Ashworth Scale (MAS)
Time Frame: 12 weeks
|
The Modified Ashworth Scale is the most widely used assessment tool to measure resistance to limb movement in a clinic setting.
Scores range from 0-4, with 6 choices.
0 (0) - No increase in muscle tone; 1 (1) - Slight increase in muscle tone, manifested by a catch and release or by minimal resistance at the end of the range of motion when the affected part(s) is moved in flexion or extension; 1+ (2) - Slight increase in muscle tone, manifested by a catch, followed by minimal resistance throughout the remainder (less than half) of the range of movement (ROM); 2 (3) - More marked increase in muscle tone through most of the ROM, but affect part(s) easily moved; 3 (4) - Considerable increase in muscle tone passive, movement difficult; 4 (5) - Affected part(s) rigid in flexion or extension.
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12 weeks
|
10-meter walk test (10MWT)
Time Frame: baseline
|
The 10 Metre Walk Test is a performance measure used to assess walking speed in metres per second over a short distance.
It can be employed to determine functional mobility, gait, and vestibular function.
|
baseline
|
10-meter walk test (10MWT)
Time Frame: 6 weeks
|
The 10 Metre Walk Test is a performance measure used to assess walking speed in metres per second over a short distance.
It can be employed to determine functional mobility, gait, and vestibular function.
|
6 weeks
|
10-meter walk test (10MWT)
Time Frame: 12 weeks
|
The 10 Metre Walk Test is a performance measure used to assess walking speed in metres per second over a short distance.
It can be employed to determine functional mobility, gait, and vestibular function.
|
12 weeks
|
Stiffness of medial gastrocnemius muscle and tibial anterior muscle.
Time Frame: Baseline
|
Supersonic shear wave elastography will be used to estimate the shear wave speed(m/s) of the muscles.
|
Baseline
|
Stiffness of medial gastrocnemius muscle and tibial anterior muscle.
Time Frame: 6 weeks
|
Supersonic shear wave elastography will be used to estimate the shear wave speed(m/s) of the muscles.
|
6 weeks
|
Stiffness of medial gastrocnemius muscle and tibial anterior muscle.
Time Frame: 12 weeks
|
Supersonic shear wave elastography will be used to estimate the shear wave speed(m/s) of the muscles.
|
12 weeks
|
Collaborators and Investigators
This is where you will find people and organizations involved with this study.
Publications and helpful links
The person responsible for entering information about the study voluntarily provides these publications. These may be about anything related to the study.
General Publications
- Selles RW, Li X, Lin F, Chung SG, Roth EJ, Zhang LQ. Feedback-controlled and programmed stretching of the ankle plantarflexors and dorsiflexors in stroke: effects of a 4-week intervention program. Arch Phys Med Rehabil. 2005 Dec;86(12):2330-6. doi: 10.1016/j.apmr.2005.07.305.
- Zhang LQ, Chung SG, Bai Z, Xu D, van Rey EM, Rogers MW, Johnson ME, Roth EJ. Intelligent stretching of ankle joints with contracture/spasticity. IEEE Trans Neural Syst Rehabil Eng. 2002 Sep;10(3):149-57. doi: 10.1109/TNSRE.2002.802857.
- Ren Y, Wu YN, Yang CY, Xu T, Harvey RL, Zhang LQ. Developing a Wearable Ankle Rehabilitation Robotic Device for in-Bed Acute Stroke Rehabilitation. IEEE Trans Neural Syst Rehabil Eng. 2017 Jun;25(6):589-596. doi: 10.1109/TNSRE.2016.2584003. Epub 2016 Jun 22.
- Embrey DG, Holtz SL, Alon G, Brandsma BA, McCoy SW. Functional electrical stimulation to dorsiflexors and plantar flexors during gait to improve walking in adults with chronic hemiplegia. Arch Phys Med Rehabil. 2010 May;91(5):687-96. doi: 10.1016/j.apmr.2009.12.024.
Study record dates
These dates track the progress of study record and summary results submissions to ClinicalTrials.gov. Study records and reported results are reviewed by the National Library of Medicine (NLM) to make sure they meet specific quality control standards before being posted on the public website.
Study Major Dates
Study Start (Actual)
August 1, 2021
Primary Completion (Estimated)
October 1, 2026
Study Completion (Estimated)
December 31, 2026
Study Registration Dates
First Submitted
September 3, 2020
First Submitted That Met QC Criteria
September 10, 2020
First Posted (Actual)
September 16, 2020
Study Record Updates
Last Update Posted (Actual)
November 9, 2023
Last Update Submitted That Met QC Criteria
November 8, 2023
Last Verified
November 1, 2023
More Information
Terms related to this study
Additional Relevant MeSH Terms
Other Study ID Numbers
- HP-00089895
Plan for Individual participant data (IPD)
Plan to Share Individual Participant Data (IPD)?
NO
Drug and device information, study documents
Studies a U.S. FDA-regulated drug product
No
Studies a U.S. FDA-regulated device product
No
This information was retrieved directly from the website clinicaltrials.gov without any changes. If you have any requests to change, remove or update your study details, please contact register@clinicaltrials.gov. As soon as a change is implemented on clinicaltrials.gov, this will be updated automatically on our website as well.
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