## 3 Results
### EMG Amplitude Analysis  
Figure 3 shows the EMG signals of the five muscles in the sessions in which EMG was acquired. The signals obtained during the RAGT sessions show a decrease in noisy bouncing and deviation. Compared with the commonly known GMax patterns of able-bodied individuals, there was no significant increase in amplitude; however, there was a decrease in deviation both on the left and right sides, and there appeared to be little muscle activation at toe-off, especially at the post-assessment. In the RAGT sessions, both the left and right sides of GMed showed increasingly concentrated muscle activation patterns and \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multicolumn{2}{c}{Assessment} & Pre & \multicolumn{2}{c}{Post} \\ \hline \multicolumn{2}{c}{**10-m walk test (s)**} & \multicolumn{2}{c}{42.3} & \multicolumn{2}{c}{26.7} \\ \hline \multicolumn{2}{c}{**6 min walk test (m)**} & \multicolumn{2}{c}{97.3} & \multicolumn{2}{c}{181.6} \\ \hline \multicolumn{2}{c}{} & Right & Left & Right & Left \\ \hline \multirow{4}{*}{**Manual muscle test (grade)**} & Hip flexion & 3 & 3 & 3 & 3 \\  & Hip extension & 2 & 2 & 2 & 2 \\
**Manual** & Hip abduction & 3 & 3 & 3 & 3 \\
**muscle** & Hip abduction & 3 & 3 & 3 & 3 \\
**test** & **Knee flexion** & 2 & 2 & 3 & 3 \\  & **Knee extension** & 2 & 2 & 3 & 3 \\  & Ankle dorsiflexion & 2 & 2 & 2 & 2 \\  & Ankle & 2 & 2 & 2 & 2 \\  & plantarflexion & & & & \\ \hline \multirow{4}{*}{**Force by a handheld dynamometer (N)**} & Hip flexion & 6.0 & 6.6 & 7 & 8.6 \\  & Hip extension & N/A & N/A & N/A & N/A \\
**Force** & **Hip abduction** & 6.9 & 5.9 & 7.5 & 9.5 \\
**by a handheld** & Hip abduction & N/A & N/A & N/A & N/A \\
**dynamometer** & **Knee flexion** & N/A & N/A & 6.8 & 5.9 \\
**(N)** & **Knee extension** & N/A & N/A & 9.3 & 7.5 \\  & Ankle dorsiflexion & N/A & N/A & N/A & N/A \\  & Ankle & N/A & N/A & N/A & N/A \\  & plantarflexion & & & & \\ \hline \multicolumn{2}{c}{Pediatric balance scale} & \multicolumn{2}{c}{15} & \multicolumn{2}{c}{15} \\ \hline \multicolumn{2}{c}{Gross motor function measure} & \multicolumn{2}{c}{58.33} & \multicolumn{2}{c}{58.8} \\ \multicolumn{2}{c}{(GMFM-66, \%)} & \multicolumn{2}{c}{<55.92–60.74\textgreater{}} & \multicolumn{2}{c}{<56.39–61.21\textgreater{}} \\ \multicolumn{2}{c}{**Dimension D (\%)**} & \multicolumn{2}{c}{76.92} & \multicolumn{2}{c}{79.49} \\
**Dimension E (\%)** & \multicolumn{2}{c}{22.22} & \multicolumn{2}{c}{23.61} \\ \hline \hline \end{tabular} Bold text indicates items that improved on the post-assessment compared to the pre-assessment. N/A indicates an unavailable item, i.e., not a measurable item.  
\end{table} 
Table 2: Comparison of the pre- and post-assessment results. larger amplitudes during the loading process after the heel strike and during the terminal swing as robot assistance decreased. Amplitude variation was also reduced. However, in the post-assessment period, this pattern was less noticeable. A distinct VMed feature was a decrease in the right side pattern, which was often activated during the toe-off to mid-swing period. Although this remained in the left VMed, it was observed that the right VMed pattern was de-synchronized with the left pattern from 90% GF onwards, and this was maintained at the post-assessment. Regarding the BF, the variation during the initial swing gradually decreased as RAGT progressed. The absolute magnitude of the EMG signal was the largest for the TAnt. The variation decreased as RAGT progressed, with the most pronounced pattern in the stance and swing phases at 80% GF. However, a blurring of the pattern was observed in the post-assessment. Hence, the RAGT effect diminished and was not retained over the 4-week period after the post-assessment. Figure 3: Electromyography signals of the experiment. The red and blue lines represent the averaged electromyography (EMG) signals from the left and right muscles, respectively. EMG signals from the last 100 gait cycles of each session were averaged. The shaded area represents the deviation of the signal.