Randomized parallel controlled study: Long-term efficacy of cable-driven upper limb rehabilitation robot control method on motor function recovery after stroke

Status

Active, not recruiting

Phases

Early Phase 1

Study type

Interventional

Source

ChiCTR

Registry ID

ChiCTR2600119775

Enrollment

Unknown

Registered

2026-03-03

Start date

2026-04-15

Completion date

Unknown

Last updated

2026-03-09

For informational purposes only — not medical advice. Sourced from public registries and may not reflect the latest updates. Terms

Conditions

Stroke

Interventions

ACM group:Cable-driven upper-limb rehabilitation robot-assisted training using an admittance control method.

VCM group:Cable-driven upper-limb rehabilitation robot-assisted training using a variability-encoded control method.

ADFFCM group:Cable-driven upper-limb rehabilitation robot-assisted training using an acceleration distribution based-gradient force field control method

Eligibility

Sex/Gender

All

Age

18 Years to 75 Years

Inclusion criteria

Inclusion criteria: 1. Stroke patients aged between 18 and 75 years; 2. Time since stroke onset greater than 6 months, with stable clinical condition, in the subacute or chronic phase; 3. Presence of unilateral upper-limb motor impairment, manifested as reduced muscle strength, impaired motor coordination, or limited joint range of motion; hemiplegia affecting regions other than the upper limb was not included; 4. The affected upper limb retains a certain degree of voluntary motor function, making the patient suitable for movement-assisted interventions.

Exclusion criteria

Exclusion criteria: 1. Severe muscle spasticity (Modified Ashworth Scale <= 2); 2. Significant cognitive impairment (e.g., Mini-Mental State Examination score <= 24), resulting in inability to understand instructions, cooperate with training, or provide informed consent; 3. Severe structural impairments of the shoulder joint, such as instability, dislocation, or fractures, making the use of rehabilitation robotic devices unsuitable; 4. Severe cardiovascular, respiratory, or neurological diseases that prevent tolerance of the intensity and frequency of rehabilitation training; 5 Other contraindications, including active fractures, severe spasticity, uncontrolled hypertension, or cardiac arrhythmias.

Design outcomes

Primary

Measure	Time frame
Fugl-Meyer Upper Limb Motor Function Assessment Scale;	—

Secondary

Measure	Time frame
movement distributions;movement variability;cortical blood oxygen concentration;	—

Countries

China

Contacts

Public ContactQiang Lin

The Seventh Affiliated Hospital of Sun Yat-sen University

linqiang@sysush.com+86 189 2249 7674

Outcome results

None listed

Source: ChiCTR (via WHO ICTRP) · Data processed: Mar 14, 2026