1. Introduction
Stroke, stroke, abnormal gait, knee joints, voluntary muscle contractions, subacute stroke, disability
STROKE, STROKE
Stroke is one of the most common causes of disability in the world [Walking is considered the foundation of autonomous mobility; thus, it is necessary to make gait recovery as a primary goal in stroke rehabilitation [At present, lower limb exoskeletons could satisfy most of the gait rehabilitation needs of stroke patients: improve the patients' balance function in standing position (assisted and unassisted); increase the range of motion (ROM) of the joints (especially hip and knee joints); strengthen the patients' muscle strength during walking; the movement pattern of patients was improved and abnormal gait was rectified [For stroke patients, lower extremity exoskeletons have been proven to effectively help them improve their walking ability, rectify abnormal gait, promote motor function recovery, and improve balance function [As a new tool of rehabilitation therapy, the clinical effect of lower extremity rehabilitation robots needs to be considered and evaluated versatilely. Gait assessment is one of the most important measures to determine therapeutic schedules and evaluate the rehabilitation effects. Observational gait assessment is the most commonly used method in clinical practice, but it has certain limitations due to the deviation of subjectivity [When human muscles contract, they will generate corresponding electrical activity. Electrophysiological assessment can be used to objectively assess the relevant physiological status of the patients. Surface electromyography (sEMG) is a noninvasive, convenient, and low-cost method to record the activity intensity and activation pattern of muscles in subjects, and this technology has the potential to be widely used in clinical settings. The commonly used metrics of sEMG are divided into time domain metrics and frequency domain metrics. Time domain metrics include integrated electromyography (iEMG), root mean square (RMS), and average electromyography (AEMG), and frequency domain metrics include mean power frequency (MPF) and median frequency (MF). When voluntary muscle contractions are detected, sEMG signals could tell us the muscle activity of the patients during gait, identifying the abnormal activation patterns of muscles, which may affect walking function [The purpose of this study is to analyze the impact of RAGT on the clinical walking ability indicators, spatiotemporal parameters, kinematic parameters, and indicators of sEMG in patients with subacute stroke by comparison between RAGT and conventional gait training and evaluate the clinical effect of improving walking function of RAGT.