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. 2022 Oct 7;101(40):e30852. doi: 10.1097/MD.0000000000030852

Table 1.

Characteristics of the included studies.

Study Participant characteristics Intervention program
Reference/country N (e.g./CG) Female, n (%) (e.g./CG) Disease Mean age  ± SD (yr) (e.g./CG) EG CG Length of intervention Outcomes Time point
Total knee replacement
Yoshikawa[14] Japan

Kotani[15] Japan
Goto[16] Japan

Li[18] China
Tanaka[19] Japan
Yoshioka[21] Japan
Fukaya[22] Japan
9/10 8 (88.9)/8 (80) OA and RA 61.2 ± 8.9/59.1 ± 9.8 Training with HAL + CR CR e.g.:10 to 12 times HAL training (14.4 min/time) over 4 weeks + 60 to 80 min a day of CR.
CG: 60 to 120 min a day of CR
Total times were 26.5 (e.g.) hours and 28.2 hours (CG) respectively.
SWS, MWS, SL-SWS, SL-MWS, cadence at SWS, cadence at MWS, strength of knee extension and flexion, knee ROM, WOMAC-P, WOMAC-F Pre-surgery, 1, 2, 3, 4, 8 weeks
12/10 10 (83.3)/8 (80) OA 77.3 ± 3.8/75.0 ± 5.1 Use of HAL-SJ in knee flexion + CR CR e.g.: 50 active knee flexion at each session every other day using HAL-SJ (starting on POD 5) + CR (starting on POD 1). 5 to 10 min of average time over 5 days training
CG: 50 active knee flexion at each session every other day (starting on POD 5). + CR (starting on POD 1). 10 to 15 min of average time over 5 days training
VAS, Strength of knee flexion, knee ROM Pre-intervention, 5 days
10/10 10 (100)/8 (80) NR 74.2 ± 7.5/73.2 ± 8.0 Use of HAL-SJ in active assistive knee exercise + CR CR e.g.: 50 active assistive knee exercise at each session (HAL-SJ applied every other day, starting on POD 5) + CR (starting on POD 1) over 5 days training
CG: CR (starting on POD 1) over 5 days training
VAS, extension lag Post-surgery 5 and 10 days
30/30 41 (68.3) OA NR Robot-assisted walking training + CR CR e.g.: 5 times a week, 10 times in total (30 min each and twice a day, starting POD 7) over 2-weeks training
CG: CPM training, peri-knee neuromuscular, electrical stimulation, isometric contraction of peri-knee muscle (starting POD 7) over 2-weeks training
HSS, knee kinesthesia grade, knee proprioception grade, FAC, BBS, 10-m sitting-standing time, 6m walking distance Pre-intervention, 1, 2 weeks, 1, 3, 6, 12 months
13/13
12/12
9/9
10 (76.9)/10 (76.9)
8 (66.7)/11 (91.7)
8 (88.9)/8 (88.9)
OA
OA
OA and RA
75.5 ± 5.4/75.6 ± 4.5
71.3 ± 6.2/74.9 ± 8.7
74.1 ± 5.7/76.4 ± 7.6
Training with HAL
Use of HAL-SJ in knee exercise and flexion + CR
Training with HAL
CR
CR
CR
e.g.: 5 times a week, 10 times in total (HAL training for 40 min) over 2-weeks training
CG: 5 times a week, 10 times in total (CR for 40 min once a day) over 2-weeks training
e.g.: knee exercise with HAL-SJ (10 extensions per set, 5 sets, twice per week, starting on POD 8) + CR (starting on POD 1) over 5 days per week training until discharge
CG: CR (starting on POD 1) over 5 days per week training until discharge
e.g.: 10 to 12 times in total over 4-weeks training (starting on POD 1 to 5 weeks)
CG: no significant difference in the total physical therapy time compared to the e.g.
SWS, strength of knee extension, NRS
VAS, extension lag
Step length, hip ROM, knee ROM, ankle ROM, joint moment
Pre-surgery,
1, 2, 3 weeks
Pre-intervention, 8,10, 15 days,
Post-surgery 5 weeks
Total hip replacemet
Yang[17] South korea 13/12 11 (84.6)/10 (83.3) Femur neck and introchanteric fracture 79.3 ± 6.7/78.5 ± 5.4 TCRRT  + CR CR e.g.: 1 time a day (TCRRT for 15 min + CR for 20 min, total 35 min, starting POD 4) over 15 days
CG: 1 time a day (CR for 35 min, starting POD 4) over 15 days
MFRT, 10MWT, TUG, VAS, Strength (hip flexion/extension, knee flexion/extension) Pre-intervention, 5, 10, 15 days
Setoguchi[20] Japan 8/8 6 (75)/6 (75) OA 74 ± 4.4/63.8 ± 7.7 Gait training with HAL CR e.g.: gait training with HAL (40 min/time, 3 times a week, 6 times in total) (On the day without HAL, 40 min/time, CR once/day) over 2 weeks
CG: CR1 time a day, 40 min/1 time over 2 weeks
HHS, SF-36 score, single support time, double support time, cadence, velocity, stride length, anterior/posterior/lateral variability, hip ROM, knee ROM Pre-surgery,
1, 3 weeks

10MWT = 10 meter walk test, BBS = Berg balance score, CG = control group, CR = conventional rehabilitation, FAC = functional ambulation category, HAL = hybrid assistive limb, HAL-SJ = single-joint hybrid assistive limb, HHS = Harris hip score, HSS = hospital for special surgery, e.g. = experimental group, MFRT = modified functional reach test, MWS = maximum walking speed, NR = not reported, NRS = numerical rating scale, OA = osteoarthritis, POD = postoperative day, RA = rheumatoid arthritis, ROM = range of motion, SF-36 = score 36-Item Short Form Health Survey score, SL-MWS = step length-maximum walking speed, SL-SWS = step length- self-selected walking speed, SWS = self-selected walking speed, TCRRT = trunk control rehabilitation robot training, TUG = timed up and go test, WOMAC-F/P = Western Ontario and McMaster Universities Osteoarthritis Index-function/pain, VAS = visual analogue scale.