Applicability of Robotic Devices, Virtual and Augmented Reality in the Rehabilitation of People With Stroke During Treadmill Training

The Barthel Index (BI) is used to measure functional abilities, which sensitively measures the degree of independence and changes in it during various daily activities (eating, transfer movements to a wheelchair, personal toileting, toilet use, bathing, walking on level ground, climbing up and down stairs, dressing, defecation and urination) in cases of chronic, disabling diseases, especially in rehabilitation settings. The scoring method takes into account whether the assessed person receives assistance during the performance of the tasks. The scores of the individual items are added together and the resulting total score represents the BI result on a scale ranging from 0 to 100, the higher the score, the greater the independence.

Functional independence is measured using the Functional Independence Measure (FIM). The FIM is an 18-item scale that consists of motor and cognitive subscales. The assessment includes self-care, bladder control, toileting, mobility, communication, and cognitive functions. Each item is rated on a scale from 1 to 7, with 1 indicating maximum need for assistance and 7 indicating complete independence. Accordingly, the total scale score ranges from 18 to 126, with 18 indicating complete dependence and 126 indicating complete independence. Each subscale can be scored separately; in this study, the motor subscale of the FIM is also scored separately. In this case, the total scale can range from 13 to 91, with higher scores indicating greater motor independence.

The Berg Balance Scale (BBS) was used to measure static and dynamic balance. The BBS can objectively measure the subject's ability to balance safely during a series of pre-determined tasks. It is a 14-item task, with each item scored on a five-point scale from 0 to 4, where 0 indicates the lowest level of function and 4 the highest. The maximum score is 56, indicating perfect functional balance. A score below 45 indicates an increased risk of falling, and, the lower the score, the higher the risk of falling.

The Tinetti test is a common clinical tool for assessing mobility, balance (static and dynamic) and gait in the elderly, especially for assessing fall risk. Scoring: 0, 1, 2 points for each subscale. Total score 28. A score below 25 points significantly increases the likelihood of falling

To measure endurance, we used a 6-minute walk test (6mWT). During the test, the subject walks back and forth along a pre-designated flat and straight 50 m long trail. The walk starts when the timer is started at the tester's command; the pace of the walk is set by the subject, with no interference from the tester. If the subject needs to stop for a rest during the walk, the timing is not stopped. The subject will continue walking for 6 min and will stop only at the direction of the examiner after the 6 min have elapsed. The result is the distance covered in 6 min, expressed in meters. If the subject is required to stop and sit down within the 6 min, the test result is the distance covered. The greater the distance traveled, the better the endurance required.

A 10-meter walk test (10mWT) was used to measure walking speed. To perform the test, a 10 m long flat, level area was designated. The 10 m section was marked at 0, 2, 8 and 10 m with thick adhesive tape. The subject started walking at the 0 m mark on the instructions of the examiner. As soon as he reached the 2 m mark, the examiner started the timer and stopped it the moment he reached the 8 m mark, thus testing his walking speed over a 6 m stretch. The speed is given by the distance (6 m) divided by the time measured (in seconds to two decimal places) in m/s

During the postural examination, the presence and extent of postural instability were monitored using a posturograph (ProKin 252N, TecnoBody, Dalmine, Italy). During the test, the subjects were asked to stand on the test apparatus for 20 s in 4 different in-creasingly difficult postures: 1-wide stance-eye open (WEO); 2-wide stance-eye closed (WEC); 3-narrow stance-eye open (NEO); 4-narrow stance-eye closed (NEC). During the test, the subjects stood barefoot on the test apparatus and were not exposed to any external stimuli during the test. The results are provided by the 3-dimensional path of the body's center of pressure (COP-Sway). The smaller the COP-Sway , the lower the postural instability.

For 3D gait analysis we use the MVN Awinda motion capture system developed by Xsens (Movella, El Segundo, Califonia, US) and the MVN Analyze (version 2025.0.1.) motion analysis software. The MVN Awinda motion capture system consists of a total of 17 inertial measurement units (IMUs), which include accelerometers, gyroscopes, and magnetometers. The sensors are placed at different predefined anatomical points on the body.

The 3D gait analysis includes multiple distinct gait parameters, each representing an independent outcome with its own unit of measure. These parameters are not aggregated into a single composite score, but are analyzed and reported separately as standard spatiotemporal gait outcomes.

Spatiotemporal parameters: Gait speed (m/s); Number of steps (count); Cadence (steps/min).

For 3D gait analysis we use the MVN Awinda motion capture system developed by Xsens (Movella, El Segundo, Califonia, US) and the MVN Analyze (version 2025.0.1.) motion analysis software. The MVN Awinda motion capture system consists of a total of 17 inertial measurement units (IMUs), which include accelerometers, gyroscopes, and magnetometers. The sensors are placed at different predefined anatomical points on the body.

The 3D gait analysis includes multiple distinct gait parameters, each representing an independent outcome with its own unit of measure. These parameters are not aggregated into a single composite score, but are analyzed and reported separately as standard spatiotemporal gait outcomes. Spatial parameters: Step length - Left (cm); Step length - Right (cm); Step length difference (cm); Step width - Left (cm); Step width - Right (cm); Step width difference (cm).

For 3D gait analysis we use the MVN Awinda motion capture system developed by Xsens (Movella, El Segundo, Califonia, US) and the MVN Analyze (version 2025.0.1.) motion analysis software. The MVN Awinda motion capture system consists of a total of 17 inertial measurement units (IMUs), which include accelerometers, gyroscopes, and magnetometers. The sensors are placed at different predefined anatomical points on the body. The 3D gait analysis includes multiple distinct gait parameters, each representing an independent outcome with its own unit of measure. These parameters are not aggregated into a single composite score, but are analyzed and reported separately as standard spatiotemporal gait outcomes. Temporal parameters (percentage of gait cycle): Total gait cycle - Left (%); Total gait cycle - Right (%); Swing phase - Left (%); Swing phase - Right (%); Stance phase - Left (%); Stance phase - Right (%); Double support phase - Left (%); Double support phase - Right (%).