Table 2 Details of intervention and outcome assessments

Hornby TG [31]

1. CPT: overground gait training

2 weeks after training

Distance—6 MWT

2. TM: BWSTT (average speed 2 km/h)

3. RAGT: Lower exoskeleton (Lokomat) with BWS

Dobkin B [32]

1. CPT: overground gait training

Immediately after training

WISCI

2. TM: BWSTT, stretching and gait training

Dobkin B [26]

1. CPT: overground gait training

Immediately after training

Velocity—15 MWT

2. TM: BWSTT, stretching and gait training

Distance—6 MWT

Alexeeva N [24]

1. CPT: overground gait training, balance, functional activity, stretching, strengthening and aerobic exercise

2 days after training

Velocity—10MWT

2. TM: BWSTT (BWS 30%)

Field-Fote EC [17]

1. FES: FES on ankle dorsiflexor (common peroneal nerve), gait training (BWS 30%)

Immediately after training

Velocity—10MWT

2. TM: unilateral or bilateral manual assistance for stepping BWS30 percent

Distance—2 MWT

3. RAGT: lower exoskeleton, 100% guidance force to provide maximum assistance (BWS 30%)

4. FES + TM: FES on ankle dorsiflexor muscle (common peroneal nerve), BWSTT (BWS 30%)

Lucareli PR [28]

1. CPT: overground gait training

N/A

Velocity—Motion analysis

2. TM: BWSTT (BWS 40%)

Distance—Motion analysis

Alcobendas-Maestro M [29]

1. CPT: overground gait training

N/A

Velocity—10MWT

Distance—6MWT

WISCI

2. RAGT: lower exoskeleton (Lokomat) (BWS 60%)

Jaynie F [39]

1. CPT: precision training

N/A

Velocity—10MWT

2. TM: BWSTT

WISCI

Kapadia N [27]

1. CPT: overground gait training, resistance and aerobic exercise

Immediately after training

Velocity—10MWT

2. FES + TM: FES on quadriceps, hamstring, dorsiflexor, plantarflexor, BWSTT

Distance—6MWT

Labruyere R [38]

1. CPT: strengthening exercise

Immediately after training

Velocity—10MWT

2. RAGT: lower exoskeleton (average speed 1.5–2 km/h)

WISCI

Esclarin-Ruz A [33]

1. CPT: overground gait training

N/A

Velocity—10MWT

2. RAGT: lower exoskeleton (Lokomat) (BWS 60%)

Distance—6MWT

WISCI

Shin JC [35]

1. CPT: physical therapy (Bobath principle)

Within 2 days

WISCI

2. RAGT: lower exoskeleton (Lokomat) (BWS 50%) (average speed fix 1.5 km/h)

Tang Q [30]

1. CPT: strengthening exercise (ergo bike load 60 W/ pedaling rate of 45 rpm)

N/A

Velocity—10MWT

2. RAGT: lower exoskeleton 70% guidance force to provide assistance (Lokomat) (BWS 35%)(average speed 1.8 km\h)

SenthilvelkumarT [36]

1. CPT: overground gait training (BWS 40%)

N/A

WISCI

2. TM: BWSTT

Lin HD [34]

1. CPT: overground gait training

N/A

WISCI

2. RAGT: lower exoskeleton (A3)

Chang SH [25]

1. CPT: overground gait training, stretching, strengthening, balance, standing, sit to stand, stair

Immediately after training

Velocity—10MWT

2. RAGT: lower exoskeleton (Ekso)

Distance—6MWT

Edwards DJ[37]

1. CPT: overground gait training, mobility therapy

Immediately after training

Velocity—10MWT

2. RAGT: lower exoskeleton (Ekso)

Distance—6MWT