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StrokeNCT07735676

ZEPU-AI1 Gait Robot Training Study (ZEPUAI1RCT)

A study testing ZEPU-AI1 Gait Training and Evaluation System and Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise) in people with Stroke and Spinal Cord Injuries (SCI), run by Bangladesh Medical University at 1 site in Bangladesh.

Completed

Finished. The study has ended and is not enrolling. Results may be posted on the official record.

Official record
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Trial summary

Walking problems caused by stroke, spinal cord injury, or orthopedic surgery are common and can seriously limit a person's independence. Robotic-assisted gait training devices, which use a computer-controlled system to help patients practice standing and walking, have shown promise in improving strength, balance, and… Read more about this study

Who is it for?
Ages 18 to 60 years
What is being tested?
ZEPU-AI1 Gait Training and Evaluation System and Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise)
Could I receive a placebo?
No, everyone receives an active treatment
How many people
51 participants
Where
1 siteBangladesh
Study dates
14 May 2026to 7 Oct 2026
Phase
Interventional
Are there results?
None posted in the registry

Key requirements

Who can take part, as listed by the sponsor. Only the study team can confirm whether you are eligible, so take this list to your doctor.

  • Ages 18 to 60 years
  • All sexes
  • No healthy volunteers
  • Adult

Who may be able to join

  • Lower-limb motor dysfunction from one of the following: (a) stroke (onset 2-24 months), (b) incomplete spinal-cord injury (neurological level T12 and below, ASIA C or D), (c) orthopedic surgery (e.g., knee/hip replacement) with persistent gait impairment >3 months post-surgery
  • Age >18 and ≤60 years
  • Able to provide informed consent and understand instructions
  • Weight ≤100 kg and height within device adjustable range (per manufacturer specification)
  • Medically stable and cleared by physician for exoskeleton use (no active infection, uncontrolled cardiac/respiratory disease, severe osteoporosis, uncontrolled epilepsy, or untreated DVT)

Who cannot join

  • Complete spinal cord injury with inability to bear any weight
  • Severe cognitive impairment (e.g., MMSE <24) preventing safe participation
  • Severe spasticity (Modified Ashworth Scale >3) in lower limbs
  • Unstable fractures, severe hip/knee contractures (>30° fixed flexion), or severe osteoarthritis requiring imminent surgery
  • Uncontrolled cardiac arrhythmia, pacemaker incompatibility, or implanted electronic device incompatible with robot sensors
  • Pregnancy

Trial locations and contacts

1 site in 1 country.

Bangladesh1 site
  • Bangladesh Medical University

    Dhaka, 1000

Other trials in Bangladesh

About this study

Official title: Feasibility, Safety and Efficacy of ZEPU AI1 Gait Training and Evaluation System Robot in Patients With Lower Limb Motor Weakness

Walking problems caused by stroke, spinal cord injury, or orthopedic surgery are common and can seriously limit a person's independence. Robotic-assisted gait training devices, which use a computer-controlled system to help patients practice standing and walking, have shown promise in improving strength, balance, and walking ability in other countries. However, this type of technology has not yet been carefully studied in Bangladesh.

This study will test a robotic gait training and evaluation device called ZEPU-AI1 in adults aged 19 to 60 years who have difficulty walking due to stroke, incomplete spinal cord injury, or gait problems following surgery. The main goals are to find out whether using this robotic device alongside standard physical therapy is feasible (practical to carry out) and safe, and to explore whether it helps improve walking speed, balance, muscle strength, and daily function compared with standard physical therapy alone.

Read more

Fifty-one participants took part (32 were originally planned; more were enrolled because additional eligible patients were available). Twenty-five received robot-assisted gait training three times a week for 12 weeks in addition to usual rehabilitation therapy, while 26 received usual rehabilitation therapy alone. Participants were assessed regularly using standard walking, balance, and strength tests over the 12-week period.

The results of this study will help doctors and researchers understand whether this robotic technology can be safely and effectively introduced into rehabilitation care in Bangladesh.

Read the detailed description

This is a single-site, pilot, randomized controlled trial evaluating the feasibility, safety, and preliminary efficacy of the ZEPU-AI1 Gait Training and Evaluation System, a computer-controlled robotic rehabilitation device, in adults with lower-limb motor dysfunction. The trial will be conducted at the Robotic Rehabilitation Centre, Department of Physical Medicine and Rehabilitation, Bangladesh Medical University (BMU), Dhaka, Bangladesh.

Fifty-one participants aged 19-60 years (planned enrolment 32; enrolment exceeded the target because additional eligible participants were available) with lower-limb motor dysfunction secondary to stroke (2-24 months post-onset), incomplete spinal cord injury (ASIA C or D, neurological level T12 or below), or persistent gait impairment following orthopedic surgery (>3 months post-surgery) were enrolled after screening against detailed inclusion/exclusion criteria (including device-specific anthropometric limits, medical stability, and absence of severe spasticity, unstable fractures, or cardiac contraindications). Participants were randomized into two parallel arms:

Intervention Arm (n=25): ZEPU-AI1 robot-assisted gait training combined with standard-of-care rehabilitation.

Control Arm (n=26): Standard-of-care rehabilitation alone.

The ZEPU-AI1 is a bilateral robotic exoskeleton system integrating a gait control unit (programmable hip range 30°-50°, knee range 50°-80°), a dynamic body-weight support mechanism (0-80 kg unloading), a motorized treadmill (0.1-3.5 km/h), and dedicated software providing real-time gait monitoring, spasticity detection, and automatic safety shutoff. Intervention-arm participants will undergo supervised training three times weekly for 12 weeks (36 sessions total), each session approximately 45 minutes, comprising warm-up, device donning, structured standing/gait training (sit-to-stand, in-place stepping, overground walking, turning), and cool-down, with progressive adjustment of speed, body-weight support, and duration based on tolerance.

Primary outcomes are feasibility (recruitment, session adherence, device set-up/donning time, therapist competency time) and safety (incidence of device-related adverse events and serious adverse events, tolerability, dropout rate), assessed continuously throughout the intervention and at two-week intervals.

Secondary outcomes assess efficacy using standardized, validated instruments administered at baseline and two-week intervals over the 12-week period: 6-Minute Walk Test, Medical Research Council (MRC) Muscle Strength Scale, Functional Ambulation Category (FAC), Berg Balance Scale, Timed Up and Go (TUG) test, Modified Ashworth Scale (MAS), and a validated Bengali version of the EuroQol quality-of-life questionnaire. Usability and acceptability will be assessed via the Post-Study System Usability Questionnaire (PSSUQ) at study completion.

Data will be collected on standardized case report forms and entered into a password-protected, anonymized electronic database, with independent verification and monthly adverse-event review by a safety monitor not involved in training delivery. Analysis will follow an intention-to-treat approach (with a secondary per-protocol analysis), using descriptive

Being tested
ZEPU-AI1 Gait Training and Evaluation System, Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise)
Keywords
Gait Training, Robotic Rehabilitation, Neurorehabilitation
Medical subject headings
Stroke, Spinal Cord Injuries, Gait Disorders, Neurologic

What participants receive

What participants receive. In a randomised study each person is assigned to one group by chance.

  • ZEPU-AI1 Gait Training and Evaluation SystemDevice

    Participants received robot-assisted gait training using the ZEPU-AI1 Gait Training and Evaluation System, a robotic device providing body-weight-supported, guided gait training. Training was delivered 3 times per week for 12 weeks (36 sessions total), approximately 45 minutes per session, including warm-up, device donning, structured standing and gait training (sit-to-stand, in-place stepping, overground walking, turning), and cool-down. Body-weight support, walking speed, and session duration were progressively adjusted based on participant tolerance and performance.

  • Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise)Behavioural

    Participants received individualized rehabilitation and exercise (IRR) as per institutional protocol at the Department of Physical Medicine and Rehabilitation, BMU. This standard-of-care rehabilitation program was tailored to each participant's functional status and needs, and was matched in overall therapeutic content and intensity across both study groups. It was delivered without any robotic-assisted device and represents the conventional-therapy component of care for individuals undergoing gait and mobility rehabilitation.

Study groups in NCT07735676
Study groupRoleWhat they receive
Robotic-Augmented Rehabilitation GroupExperimentalParticipants (n=25) received robot-assisted gait training using the ZEPU-AI1 Gait Training and Evaluation System in addition to standard-of-care rehabilitation. Training was delivered 3 times per week for 12 weeks (36 sessions total), each session approximately 45 minutes, including warm-up, device donning, structured standing and gait training (sit-to-stand, in-place stepping, overground walking, turning), and cool-down. Body-weight support, walking speed, and session duration were progressively adjusted based on participant tolerance and performance. Sessions were supervised by trained physiatrists and physiotherapists at the Robotic Rehabilitation Centre, BMU. Standard-of-care rehabilitation (individualized rehabilitation and exercise) continued in parallel.
Receives: Device: ZEPU-AI1 Gait Training and Evaluation System; Behavioral: Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise)
Usual Care (Control) GroupActive comparatorParticipants (n=26) received standard-of-care rehabilitation alone, without robotic-assisted gait training. This included an individualized rehabilitation regimen and exercise (IRR) as per institutional protocol at the Department of Physical Medicine and Rehabilitation, BMU, matched in overall therapeutic content to the conventional-therapy component received by the intervention group.
Receives: Behavioral: Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise)

What is being measured

The primary outcome is the main question the study is designed to answer.

  1. Incidence of Device-Related Adverse Events and Serious Adverse Events

    Number and proportion of participants experiencing device-related adverse events (AEs) and serious adverse events (SAEs), including falls, skin breakdown/pressure sores, joint pain/injury, cardiovascular events, and fracture, during the intervention and follow-up period.

    Measured: Baseline (T=0) through 12-week intervention period and follow-up, assessed every 2 weeks

Secondary outcomes (7)
  1. Change in Six-Minute Walk Distance (6MWD)

    Distance (in meters) walked in six minutes, a standardized measure of walking capacity, endurance, and functional mobility.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  2. Change in Medical Research Council (MRC) Muscle Strength Scale

    Manual muscle strength grading of lower-limb muscle groups using the Medical Research Council (MRC) Muscle Strength Scale, scored from 0 (no muscle contraction) to 5 (normal muscle strength), with higher scores indicating better muscle strength.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  3. Change in Functional Ambulation Category (FAC) Score

    Level of physical assistance required for ambulation assessed using the Functional Ambulation Category, a 6-point ordinal scale ranging from 0 (non-functional ambulation, unable to walk) to 5 (independent ambulation on any surface), with higher scores indicating better ambulatory function.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  4. Change in Berg Balance Scale Score

    Assessment of static and dynamic balance during functional tasks using the Berg Balance Scale, a clinician-administered scale ranging from 0 to 56, with higher scores indicating better balance.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  5. Change in Timed Up and Go (TUG) Test

    Time (in seconds) taken to rise from a chair, walk 3 meters, turn, walk back, and sit down; a measure of functional mobility and fall risk.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  6. Change in Modified Ashworth Scale (MAS) for Lower-Limb Muscles

    Clinical assessment of spasticity/muscle tone in the lower limbs using the Modified Ashworth Scale (MAS), scored from 0 (no increase in muscle tone) to 4 (limb rigid in flexion or extension), with higher scores indicating greater spasticity (worse outcome).

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

  7. Change in Quality of Life (EuroQol Questionnaire, Bengali Version)

    Validated Bengali-language EuroQol (EQ-5D) questionnaire assessing health-related quality of life, a self-rated measure with a descriptive system score and index value where higher scores/values indicate better health-related quality of life.

    Measured: Baseline (T=0), every 2 weeks through 12 weeks

Timeline

From the start of the study to its completion; the mark is today. Estimated dates are the sponsor’s plan.

  1. First posted30 Jul 2026
  2. Study start14 May 2026
  3. Primary completion15 Sep 2026
  4. Study completion7 Oct 2026

Resources

More details

For doctors and researchers: how the study is designed, who runs it, and its registry IDs.

Study design
Study type
Interventional
Phase
Phase N/A
Primary purpose
Treatment
Allocation
Randomised
Intervention model
Parallel groups
Masking
Single blind
Who is masked
Outcomes assessor
Enrolment
51 participants (actual)
IDs, dates and publications
ClinicalTrials.gov ID
NCT07735676
Sponsor's protocol ID
PR-1427
Status last verified
Oct 2026
First submitted
26 Jul 2026
Last updated
2 Nov 2026
Results posted
No
Data monitoring committee
Yes
FDA-regulated drug
No
FDA-regulated device
No
Individual data sharing
No

Questions about this trial

What is this clinical trial studying?

A study testing ZEPU-AI1 Gait Training and Evaluation System and Standard-of-Care Rehabilitation (Individualized Rehabilitation and Exercise) in people with Stroke and Spinal Cord Injuries (SCI), run by Bangladesh Medical University at 1 site in Bangladesh.

The full registered description is in the About this study section and the official record.

Who may be eligible to take part?

The sponsor lists 5 inclusion and 6 exclusion criteria. Eligibility is decided by the study team after screening, so read the full criteria and contact a listed site.

Is this clinical trial currently recruiting?

The record says: finished, as of the sponsor's last update on 2 Nov 2026. Status can change between updates, so confirm with the study contact before making plans.

Where is the study taking place?

The record lists 1 site in Bangladesh. Whether a site is taking part right now should be confirmed with that site. See every site.

What are the possible benefits and risks?

They depend on the study and the treatment, and no study can promise a benefit. The study team explains the known risks during informed consent, before anyone joins; the record itself does not list them.

Are results available for this study?

The study is completed, but results are not available in the source record. That does not mean the treatment did or did not work.

How can a doctor refer a patient or contact the research team?

The record lists no contact. The official record names the sponsor, who can be asked directly. AzTrials does not enrol participants or take referrals.

What does the primary outcome measure?

Incidence of Device-Related Adverse Events and Serious Adverse Events (time frame: Baseline (T=0) through 12-week intervention period and follow-up, assessed every 2 weeks). It is what the study was designed to measure, not a finding.

Where can I read the original study information?
Does a listing mean the treatment is approved or proven to work?

No. A listing means the study is registered. It does not show that the treatment is safe, works, or is approved by a regulator.

How often is this information updated?

AzTrials copies changed records from ClinicalTrials.gov every night and reloads the whole registry every week. The sponsor last updated this record on 2 Nov 2026.

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