## 4 Clinical NDT Rehabilitation with Stroke Patients  
We recruited 10 stroke patients to participate in the experiments. The following restrictions were set on the selection of subjects: (i) the Mini-Mental State Examination (MMSE) score [33] was higher than 24 and the subject could cooperate with orders; (ii) the Brunnstrom Stage (BS) [34] on the paretic lower extremity was stage 3 to 4; (iii) the Functional Ambulation Category (FAC) [35] was stage 3 to 4; (iv) subjects could walk 10 m indoors with or without aid devices; and (v) subjects could stand up on their own using a handrail and aids. The patients' data are provided in Table 7. All subjects signed informed consent forms approved by the Human Subject Research Ethics Committee of the Institutional Review Board (IRB number: (870)110-16, Cheng-Hsin General Hospital, Taipei, Taiwan, ClinicalTrials.gov Identifier: NCT04968418). We attached three IMUs onto each subject's legs and waist and conducted clinical experiments in the hospital, as shown in Figure 8. Each subject underwent the tests by the \(\mathrm{A-B-\overline{A}}\) procedures, as demonstrated in Appendix D. The subjects walked forth and back with the trainer on a straight line of about 11 m. At stage A (before treatment), the subjects walked three times (about 66 m) with the motors off. At stage B (during treatment), the trainer's motors were switched on, and the subjects walked six times (about 132 m). Finally, at stage \(\overline{A}\) (after treatment), the subject walked three times (about 66 m) on their own with the motors off. No break was given between the \(\mathrm{A-B-\overline{A}}\) procedures, but the subjects were free to rest at any time during the experiments. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline  & \multicolumn{3}{c}{**Asymmetry of the Swing Phase**} & \multicolumn{3}{c}{**Amplitude of Pelvic Rotation**} \\ \hline  & & & \(-\) & & \(-\) \\
**Subject** & **A** & **B (imp\%)** & **A (imp\%)** & **A** & **B (imp\%)** & **A (imp\%)** \\ \hline H1 & 36.4 & 36.3 (0.16) & 25.4 (30) & 8.5 & 15.8 (86) & 13.6 (60) \\ H2 & 37.5 & 52.2 (\(-\)39) & 45.5 (\(-\)21) & 12.4 & 9.3 (\(-\)24) & 12.9 (4) \\ H3 & 75.4 & 62.4 (17) & 62.1 (18) & 6.5 & 13.5 (107) & 8.8 (35) \\ H4 & 33.1 & 20.8 (37) & 12.8 (61) & 6.0 & 11.8 (95) & 6.7 (12) \\ H5 & 64.9 & 44.2 (32) & 27.0 (59) & 9.3 & 12.4 (34) & 13.1 (41) \\ H6 & 18.5 & 13.0 (30) & 7.6 (59) & 10.3 & 6.3 (\(-\)39) & 11 (7) \\ H7 & 8.2 & 16.5 (\(-\)101) & 5.5 (33) & 9.0 & 10.2 (14) & 13.4 (49) \\ H8 & 29.1 & \(-\)3.7 (87) & 0.2 (99) & 7.0 & 15.0 (114) & 14.7 (109) \\ H9 & 17.7 & 19.5 (\(-\)10) & 13.8 (22) & 10.1 & 9.3 (\(-\)8) & 10.5 (3) \\ H10 & \(-\)2.1 & 0.8 (62) & 1.7 (22) & 8.6 & 18.1 (106) & 12.2 (41) \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Results of the experiments employing the modified intervention method. \begin{table}
\begin{tabular}{c c c c} \hline \hline  & **Brunnstrom** & **Paretic Side** & **Height (cm)** & **Weight (kg)** \\  & **Stage** & & \\ \hline S1 & 3 & L & 166 & 79 \\ S2 & 3 & L & 168 & 67 \\ S3 & 3 & R & 162 & 59 \\ S4 & 3 & R & 168 & 61 \\ S5 & 3 & R & 165 & 58 \\ S6 & 3 & R & 168 & 76 \\ S7 & 4 & L & 163 & 80 \\ S8 & 4 & R & 167 & 86 \\ S9 & 4 & L & 155 & 70 \\ S10 & 4 & L & 167 & 75 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Information of stroke participants. The experimental results are shown in Table 8. The gait symmetry \(Asym_{SP}\) was improved in 8 of the 10 patients during the training and in 9 of the 10 patients after the training. The average percentage improvements (imp%) were 13.04% and 22.01% during and after the training, respectively. The pelvic rotation \(Amp_{PR}\) was improved in 8 of the 10 patients both during and after the training. The average percentage improvements (imp%) were 24.46% and 8.19% during and after the training, respectively. The trainer helped improve the rehabilitation effects in stroke patients in general. However, several factors may have contributed to the lack of improvement during this intervention.