ACTive Exoskeleton for Unilaterally-Assisted Locomotion (ACTUAL)

Inclusion Criteria:

• Healthy subjects

• Age 30-75 anni;

• 50 kg ≤ weight ≤90 kg

• 150 cm ≤ height ≤ 192 cm

• Thigh length: 355 ÷ 475 mm;

• Length of tibia: 405 ÷ 485 mm;

• Width pelvis: 690 ÷ 990 mm;

• Shoe number: 36 ÷ 45

• Subjects with stroke

• Age 30-75 anni;

• 50 kg ≤ Weight ≤90 kg

• 150 cm ≤ Height ≤ 192 cm

• Thigh length: 355 ÷ 475 mm;

• Length of tibia: 405 ÷ 485 mm;

• Pelvic width: 690 ÷ 990 mm;

• Shoe number: 36 ÷ 45;

• Stroke diagnosis at least 3 months and within 24 months;

• First unilateral haemorrhagic or ischemic stroke classified as complete orpartial infarction of the anterior circulation and infarction of the lacunarcirculation (Oxford Stroke Classification: TACS -Total Anterior CirculationStroke, PACS - Partial Anterior Circulation Stroke, LACS -Lacunar Stroke).These criteria may include hemiplegia, hemianopia, motor and/or sensorydeficits, and disturbance/impairment of superior cortical and subcorticalfunction;

• FAC (Functional Ambulation Category) 1, 2 and 3 (subjects with ambulationdependent on supervisor or continuous or intermittent physical assistance);

• At least MRC (Medical Research Council) of the triceps surae equal to 1 orgreater (required to produce the biofeedback tone or for exoskeleton control).

Exclusion Criteria:

• Healthy subjects

• Prosthetic implants

• Musculoskeletal, neurological, cardiovascular and pulmonary disorders that mayimpair gait;

• State of pregnancy or breastfeeding.

Exclusion criteria

• Subjects with stroke

• Mini Mental State Examination < 23/30;

• Clinical records of visuospatial and ideomotor apraxia, behavioral disorders (e.g. depression, aggression), neglect, major visual impairment and severeosteoporosis;

• Non stabilized fractures;

• Cranial injury;

• Other diseases attributable to cardio-respiratory problemsi;

• State of pregnancy or breastfeeding;

• Previous or concurrent neoplastic malignancy;

• Chronic inflammatory diseases with joint involvement of the lower limbs;

• Serious spasticity (Ashworth>3);

• Pelvic fractures and unstable column;

• Significant limitations of passive ROM of hips and knees;

• Problems with skin integrity at the interface surfaces with the device or thatwould prevent sitting.