Intervention procedures
The IG training protocol consisted of 15 robotic ambulatory gait training sessions, each session lasting 30 min. Three sessions were performed on non-consecutive days each week for 5 consecutive weeks. The total duration of each session was about 1 h, which included 20 min to put on and remove the exoskeleton, 30 min for the walking training, 5 min of rest and 5 min to register the variables assessed. The training was conducted indoors on a smooth level surface in the physiotherapy room. External support was always used depending on the participant’s functional status, preferences, and ability: parallel bars, walker or two crutches. Besides, a researcher -physiotherapist- provide contact guarding, and another -engineer- was in charge of the exoskeleton control. Feedback was provided to patients of the IG during the sessions, were instructed on maintaining their walking pace. After the sessions, we provided feedback regarding the distance walked. The CG rehabilitation program was comprised of 15 sessions, 30 min. long, of a traditional gait training program (analytical mobilization, strengthening exercises for the lower limbs and gait re-education when possible using parallels), distributed similarly as in the IG: 3 sessions each week for 5 weeks. Neither the participants in the IG group nor those in the CG group modified their usual medications or the rehabilitation programs during the study. In other words, both the IG and the CG groups received additional walking treatment due to their participation in the study.