Although ankle robotic control has emerged as a critical component of robot-interactive gait training (RIGT), no study has investigated the neurophysiological and biomechanical effects on ankle muscle activity and joint angle kinematics in healthy adults and participants with brain damage, including stroke and cerebral palsy (CP). This study compared the effects of RIGT, with and without ankle control actuator, on ankle muscle activity and joint angle kinematics in healthy adults and participants with brain damage. Ten patients ($\mathrm{\text{healthy}}=4$, left hemiparetic $\mathrm{\text{stroke}}=3$, $\mathrm{\text{CP}}=3$) underwent standardized surface electromyography (EMG) neurophysiological and kinematics biomechanical tests under the RIGT with and without ankle control actuator conditions. Outcome measures included the EMG amplitudes of the tibialis anterior and gastrocnemius muscle activity, and ankle movement angles recorded with a two-axis digital inclinometer. Descriptive statistical analysis demonstrated that RIGT with ankle control actuator showed superior effects on EMG (30%) and kinematics angles (25%) than RIGT without ankle control actuator. Our results provided novel, promising clinical evidence that RIGT with ankle control actuator can more effectively improve the neurophysiological EMG data and ankle dorsiflexion and plantarflexion movements than RIGT without ankle control actuator in participants with stroke and CP.

尽管踝关节机器人控制已成为机器人交互式步态训练 (RIGT) 的重要组成部分，但没有研究调查神经生理学和生物力学对健康成人和脑损伤（包括中风和脑损伤）参与者的踝关节肌肉活动和关节角度运动学的影响。麻痹（CP）。本研究比较了 RIGT 在有和没有脚踝控制执行器的情况下对健康成人和脑损伤参与者的脚踝肌肉活动和关节角度运动学的影响。十个病人（$\mathrm{\text{健康}}=4$, 左偏瘫 $\mathrm{\text{中风}}=3$, $\mathrm{\text{CP}}=3$) 在 RIGT 下进行了标准化的表面肌电图 (EMG) 神经生理学和运动学生物力学测试，有和没有脚踝控制执行器条件。结果测量包括胫前肌和腓肠肌活动的 EMG 幅度，以及用双轴数字倾角仪记录的踝关节运动角度。描述性统计分析表明，与没有踝控制执行器的 RIGT 相比，具有踝控制执行器的 RIGT 对 EMG (30%) 和运动学角度 (25%) 显示出更好的效果。我们的研究结果提供了新颖的、有希望的临床证据，表明在中风和 CP 参与者中，与没有踝关节控制执行器的 RIGT 相比，具有踝控制执行器的 RIGT 可以更有效地改善神经生理 EMG 数据和踝关节背屈和跖屈运动。