Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects
Identifieur interne : 003788 ( Main/Merge ); précédent : 003787; suivant : 003789Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects
Auteurs : Jaka Ziherl [Slovénie] ; Domen Novak [Slovénie] ; Andrej Olenšek [Slovénie] ; Matjaž Mihelj [Slovénie] ; Marko Munih [Slovénie]Source :
- Journal of NeuroEngineering and Rehabilitation [ 1743-0003 ] ; 2010.
English descriptors
- KwdEn :
- Adult, Aged, Chronic Disease, Data Interpretation, Statistical, Female, Hand Strength (physiology), Humans, Male, Middle Aged, Paresis (rehabilitation), Psychomotor Performance (physiology), Robotics, Self-Help Devices, Stroke (rehabilitation), Task Performance and Analysis, Upper Extremity (physiology), Work, Young Adult.
- MESH :
- physiology : Hand Strength, Psychomotor Performance, Upper Extremity.
- rehabilitation : Paresis, Stroke.
- Adult, Aged, Chronic Disease, Data Interpretation, Statistical, Female, Humans, Male, Middle Aged, Robotics, Self-Help Devices, Task Performance and Analysis, Work, Young Adult.
Abstract
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.
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.
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.
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.
Url:
DOI: 10.1186/1743-0003-7-52
PubMed: 20955566
PubMed Central: 2965146
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type="main">Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects</title><author><name sortKey="Ziherl, Jaka" sort="Ziherl, Jaka" uniqKey="Ziherl J" first="Jaka" last="Ziherl">Jaka Ziherl</name><affiliation wicri:level="1"><nlm:aff id="I1">Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana, Slovenia</nlm:aff><country xml:lang="fr">Slovénie</country><wicri:regionArea>Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana</wicri:regionArea><wicri:noRegion>1001 Ljubljana</wicri:noRegion></affiliation></author><author><name sortKey="Novak, Domen" sort="Novak, Domen" uniqKey="Novak D" first="Domen" last="Novak">Domen Novak</name><affiliation wicri:level="1"><nlm:aff id="I1">Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana, Slovenia</nlm:aff><country xml:lang="fr">Slovénie</country><wicri:regionArea>Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana</wicri:regionArea><wicri:noRegion>1001 Ljubljana</wicri:noRegion></affiliation></author><author><name sortKey="Olensek, Andrej" sort="Olensek, Andrej" uniqKey="Olensek A" first="Andrej" last="Olenšek">Andrej Olenšek</name><affiliation wicri:level="1"><nlm:aff id="I1">Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana, Slovenia</nlm:aff><country xml:lang="fr">Slovénie</country><wicri:regionArea>Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana</wicri:regionArea><wicri:noRegion>1001 Ljubljana</wicri:noRegion></affiliation></author><author><name sortKey="Mihelj, Matjaz" sort="Mihelj, Matjaz" uniqKey="Mihelj M" first="Matjaž" last="Mihelj">Matjaž Mihelj</name><affiliation wicri:level="1"><nlm:aff id="I1">Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana, Slovenia</nlm:aff><country xml:lang="fr">Slovénie</country><wicri:regionArea>Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana</wicri:regionArea><wicri:noRegion>1001 Ljubljana</wicri:noRegion></affiliation></author><author><name sortKey="Munih, Marko" sort="Munih, Marko" uniqKey="Munih M" first="Marko" last="Munih">Marko Munih</name><affiliation wicri:level="1"><nlm:aff id="I1">Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana, Slovenia</nlm:aff><country xml:lang="fr">Slovénie</country><wicri:regionArea>Laboratory of Robotics, Faculty of Electrical Engineering, University of Ljubljana, Trzaska c. 25, 1001 Ljubljana</wicri:regionArea><wicri:noRegion>1001 Ljubljana</wicri:noRegion></affiliation></author></analytic><series><title level="j">Journal of NeuroEngineering and Rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Aged</term><term>Chronic Disease</term><term>Data Interpretation, Statistical</term><term>Female</term><term>Hand Strength (physiology)</term><term>Humans</term><term>Male</term><term>Middle Aged</term><term>Paresis (rehabilitation)</term><term>Psychomotor Performance (physiology)</term><term>Robotics</term><term>Self-Help Devices</term><term>Stroke (rehabilitation)</term><term>Task Performance and Analysis</term><term>Upper Extremity (physiology)</term><term>Work</term><term>Young Adult</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Hand Strength</term><term>Psychomotor Performance</term><term>Upper Extremity</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Paresis</term><term>Stroke</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Aged</term><term>Chronic Disease</term><term>Data Interpretation, Statistical</term><term>Female</term><term>Humans</term><term>Male</term><term>Middle Aged</term><term>Robotics</term><term>Self-Help Devices</term><term>Task Performance and Analysis</term><term>Work</term><term>Young Adult</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>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.</p></sec><sec><title>Methods</title><p>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.</p></sec><sec><title>Results</title><p>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.</p></sec><sec><title>Conclusions</title><p>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.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Harwin, W" uniqKey="Harwin W">W Harwin</name></author><author><name sortKey="Patton, J" uniqKey="Patton J">J Patton</name></author><author><name sortKey="Edgerton, V" uniqKey="Edgerton V">V Edgerton</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Volpe, B" uniqKey="Volpe B">B Volpe</name></author><author><name sortKey="Krebs, H" uniqKey="Krebs H">H Krebs</name></author><author><name sortKey="Hogan, N" uniqKey="Hogan N">N Hogan</name></author><author><name sortKey="Edelstein, L" uniqKey="Edelstein L">L Edelstein</name></author><author><name sortKey="Diels, C" uniqKey="Diels C">C Diels</name></author><author><name sortKey="Ml, A" uniqKey="Ml A">A 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