## 5 Conclusions  
This paper demonstrated the results of clinical stroke rehabilitation using a movable trainer employed during NDT intervention. The trainer consisted of a gait detection system and a motor control system. We implemented an RNN model in the gait detection system and a modified NDT intervention in the motor control system. The RNN model can recognize the HS events in real time to activate the NDT intervention at critical moments. The users can feel walking and intentionally drive their body to regain gait control by motor training. The aim of using the modified NDT intervention method was to simultaneously improve the user's gait symmetry and pelvic rotation. We recruited ten healthy subjects to verify the effectiveness of the trainer. The results showed that the trainer could simultaneously improve the subjects' gait symmetry and pelvic rotation. The findings from 10 stroke patients invited to participate in the experiments showed that gait symmetry improved in 80% of the patients during the training and 90% after the training. The pelvic rotation was improved in 80% both during and after the training. Based on these results, we conclude that the NDT trainer can potentially help stroke patients' rehabilitation. Some patients did not show improvements, possibly due to difficulty in holding handrails with the paretic hand or variations in the participants' heights that affected accurate pelvic rotation force and limited induction force options (we only included 100% and 150%). Therefore, in future studies, we plan to fasten the participants' hands onto the handrails for the participants' hands to decrease asymmetry during the intervention. We will also modify the trainer design, for example, by applying a suitable mechanism to automatically adjust the intervention positions for patients with different heights and body weights or by adding motor wheels to reduce the burden of pushing the trainer. Conceptualization, F.-C.W. and S.-F.C. ; methodology, F.-C.W., S.-F.C., Y.-C.L. and A.-C.L. ; software, Y.-C.L. and C.-J.S. ; validation, F.-C.W., S.-F.C. and C.-J.S. ; formal analysis, F.-C.W., Y.-C.L. and C.-J.S. ; investigation, F.-C.W., S.-F.C., A.-C.L. and T.-T.L. ; resources, F.-C.W., S.-F.C., A.-C.L. and T.-T.L. ; data curation, F.-C.W., Y.-C.L. and C.-J.S. ; writing--original draft preparation, F.-C.W., Y.-C.L. and C.-J.S. ; writing--review and editing, F.-C.W., S.-F.C. and A.-C.L. ; visualization, F.-C.W., Y.-C.L. and C.-J.S. ; supervision, F.-C.W. and S.-F.C. ; project administration, F.-C.W. and S.-F.C. ; funding acquisition, F.-C.W. All authors have read and agreed to the published version of the manuscript. This research was funded by in part by the Ministry of Science and Technology of Taiwan (Grands MOST 107-2634-F-002-018-, MOST 108-2634-F-002-016-, MOST 110-2634-F-002-027-, MOST 110-2634-F-002-042-) and National Taiwan University, Center for Artificial Intelligence & Advanced Robotics. \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline  & \multicolumn{3}{c}{**Asymmetry of the Swing Phase**} & \multicolumn{3}{c}{**Amplitude of Pelvic Rotation**} \\ \hline \multirow{3}{*}{**Subject**} & \multirow{3}{*}{**A**} & \multirow{3}{*}{**B (imp\%)**} & \multirow{3}{*}{**A (imp\%)**} & \multirow{3}{*}{**A**} & \multirow{3}{*}{**B (imp\%)**} & – \\  & & & & & & \\ \hline S3 & 43.60 & 38.88 (10.82) & 34.05 (21.91) & 10.90 & 7.44 (\(-\)31.74) & 9.77 (\(-\)10.39) \\ S4 & 33.53 & 23.36 (30.33) & 24.87 (25.83) & 8.08 & 11.87 (46.93) & 11.39(40.99) \\ S5 & 43.51 & 20.32 (53.30) & 16.25 (62.65) & 11.89 & 14.25 (19.86) & 13.08(10.01) \\ S6 & 29.02 & 23.72 (18.28) & 23.47 (19.14) & 10.42 & 10.10 (\(-\)2.99) & 11.00(5.60) \\ S7 & 17.82 & 16.06 (9.87) & 17.05 (4.30) & 4.77 & 6.84 (43.51) & 3.41 (\(-\)28.45) \\ S8 & 25.35 & 30.2 (\(-\)19.14) & 32.45 (\(-\)28.01) & 7.64 & 9.02 (18.01) & 8.03 (5.12) \\ S9 & 14.41 & 14.09 (2.23) & 10.38 (28.00) & 8.85 & 12.05 (36.12) & 10.56(19.37) \\ S10 & 24.21 & 23.94 (1.10) & 18.26 (24.56) & 7.48 & 9.62 (28.57) & 8.01(7.10) \\ \hline \hline \end{tabular}
\end{table}