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Journal of NeuroEngineering and Rehabilitation

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Open Access 01-12-2010 | Research

Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects

Authors: Jaka Ziherl, Domen Novak, Andrej Olenšek, Matjaž Mihelj, Marko Munih

Published in: Journal of NeuroEngineering and Rehabilitation | Issue 1/2010

Abstract

Background

Robotic systems are becoming increasingly common in upper extremity stroke rehabilitation. Recent studies have already shown that the use of rehabilitation robots can improve recovery. This paper evaluates the effect of different modes of robot-assistances in a complex virtual environment on the subjects' ability to complete the task as well as on various haptic parameters arising from the human-robot interaction.

Methods

The MIMICS multimodal system that includes the haptic robot HapticMaster and a dynamic virtual environment is used. The goal of the task is to catch a ball that rolls down a sloped table and place it in a basket above the table. Our study examines the influence of catching assistance, pick-and-place movement assistance and grasping assistance on the catching efficiency, placing efficiency and on movement-dependant parameters: mean reaching forces, deviation error, mechanical work and correlation between the grasping force and the load force.

Results

The results with groups of subjects (23 subacute hemiparetic subjects, 10 chronic hemiparetic subjects and 23 control subjects) showed that the assistance raises the catching efficiency and pick-and-place efficiency. The pick-and-place movement assistance greatly limits the movements of the subject and results in decreased work toward the basket. The correlation between the load force and the grasping force exists in a certain phase of the movement. The results also showed that the stroke subjects without assistance and the control subjects performed similarly.

Conclusions

The robot-assistances used in the study were found to be a possible way to raise the catching efficiency and efficiency of the pick-and-place movements in subacute and chronic subjects. The observed movement parameters showed that robot-assistances we used for our virtual task should be improved to maximize physical activity.

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Title: Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects
Authors: Jaka Ziherl
Domen Novak
Andrej Olenšek
Matjaž Mihelj
Marko Munih
Publication date: 01-12-2010
Publisher: BioMed Central
Published in: Journal of NeuroEngineering and Rehabilitation / Issue 1/2010
Electronic ISSN: 1743-0003
DOI: https://doi.org/10.1186/1743-0003-7-52

At a glance: The STEP trials

Springer Medicine

Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects

Abstract

Background

Methods

Results

Conclusions

At a glance: The STEP trials

Springer Medicine

Abstract

Background

Methods

Results

Conclusions

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