A haptic-robotic platform for upper-limb reaching stroke therapy: Preliminary design and evaluation results
Identifieur interne : 004D48 ( Main/Merge ); précédent : 004D47; suivant : 004D49A haptic-robotic platform for upper-limb reaching stroke therapy: Preliminary design and evaluation results
Auteurs : Paul Lam [Canada] ; Debbie Hebert [Canada] ; Jennifer Boger [Canada] ; Hervé Lacheray [Canada] ; Don Gardner [Canada] ; Jacob Apkarian [Canada] ; Alex Mihailidis [Canada]Source :
- Journal of NeuroEngineering and Rehabilitation [ 1743-0003 ] ; 2008.
English descriptors
- KwdEn :
- Arm, Equipment Design, Equipment Failure Analysis, Exercise Therapy (instrumentation), Exercise Therapy (methods), Humans, Movement Disorders (rehabilitation), Pilot Projects, Robotics (instrumentation), Stroke (rehabilitation), Therapy, Computer-Assisted (instrumentation), Therapy, Computer-Assisted (methods), Touch, User-Computer Interface.
- MESH :
- instrumentation : Exercise Therapy, Robotics, Therapy, Computer-Assisted.
- methods : Exercise Therapy, Therapy, Computer-Assisted.
- rehabilitation : Movement Disorders, Stroke.
- Arm, Equipment Design, Equipment Failure Analysis, Humans, Pilot Projects, Touch, User-Computer Interface.
Abstract
It has been shown that intense training can significantly improve post-stroke upper-limb functionality. However, opportunities for stroke survivors to practice rehabilitation exercises can be limited because of the finite availability of therapists and equipment. This paper presents a haptic-enabled exercise platform intended to assist therapists and moderate-level stroke survivors perform upper-limb reaching motion therapy. This work extends on existing knowledge by presenting: 1) an anthropometrically-inspired design that maximizes elbow and shoulder range of motions during exercise; 2) an unobtrusive upper body postural sensing system; and 3) a vibratory elbow stimulation device to encourage muscle movement.
A multi-disciplinary team of professionals were involved in identifying the rehabilitation needs of stroke survivors incorporating these into a prototype device. The prototype system consisted of an exercise device, postural sensors, and a elbow stimulation to encourage the reaching movement. Eight experienced physical and occupational therapists participated in a pilot study exploring the usability of the prototype. Each therapist attended two sessions of one hour each to test and evaluate the proposed system. Feedback about the device was obtained through an administered questionnaire and combined with quantitative data.
Seven of the nine questions regarding the haptic exercise device scored higher than 3.0 (somewhat good) out of 4.0 (good). The postural sensors detected 93 of 96 (97%) therapist-simulated abnormal postures and correctly ignored 90 of 96 (94%) of normal postures. The elbow stimulation device had a score lower than 2.5 (neutral) for all aspects that were surveyed, however the therapists felt the rehabilitation system was sufficient for use without the elbow stimulation device.
All eight therapists felt the exercise platform could be a good tool to use in upper-limb rehabilitation as the prototype was considered to be generally well designed and capable of delivering reaching task therapy. The next stage of this project is to proceed to clinical trials with stroke patients.
Url:
DOI: 10.1186/1743-0003-5-15
PubMed: 18498641
PubMed Central: 2409358
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PMC:2409358Le document en format XML
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5H6</wicri:noRegion></affiliation></author><author><name sortKey="Mihailidis, Alex" sort="Mihailidis, Alex" uniqKey="Mihailidis A" first="Alex" last="Mihailidis">Alex Mihailidis</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ONT, M5S 3G9, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ONT, M5S 3G9</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I2">Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2</wicri:regionArea><wicri:noRegion>M5G 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Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ONT, M5S 3G9</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Hebert, Debbie" sort="Hebert, Debbie" uniqKey="Hebert D" first="Debbie" last="Hebert">Debbie Hebert</name><affiliation wicri:level="1"><nlm:aff id="I2">Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2</wicri:regionArea><wicri:noRegion>M5G 2A2</wicri:noRegion></affiliation><affiliation wicri:level="4"><nlm:aff id="I3">Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Boger, Jennifer" sort="Boger, Jennifer" uniqKey="Boger J" first="Jennifer" last="Boger">Jennifer Boger</name><affiliation wicri:level="1"><nlm:aff id="I2">Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2</wicri:regionArea><wicri:noRegion>M5G 2A2</wicri:noRegion></affiliation><affiliation wicri:level="4"><nlm:aff id="I3">Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author><author><name sortKey="Lacheray, Herve" sort="Lacheray, Herve" uniqKey="Lacheray H" first="Hervé" last="Lacheray">Hervé Lacheray</name><affiliation wicri:level="1"><nlm:aff id="I4">Quanser Inc., Markham, ONT, L3R 5H6, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Quanser Inc., Markham, ONT, L3R 5H6</wicri:regionArea><wicri:noRegion>L3R 5H6</wicri:noRegion></affiliation></author><author><name sortKey="Gardner, Don" sort="Gardner, Don" uniqKey="Gardner D" first="Don" last="Gardner">Don Gardner</name><affiliation wicri:level="1"><nlm:aff id="I4">Quanser Inc., Markham, ONT, L3R 5H6, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Quanser Inc., Markham, ONT, L3R 5H6</wicri:regionArea><wicri:noRegion>L3R 5H6</wicri:noRegion></affiliation></author><author><name sortKey="Apkarian, Jacob" sort="Apkarian, Jacob" uniqKey="Apkarian J" first="Jacob" last="Apkarian">Jacob Apkarian</name><affiliation wicri:level="1"><nlm:aff id="I4">Quanser Inc., Markham, ONT, L3R 5H6, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Quanser Inc., Markham, ONT, L3R 5H6</wicri:regionArea><wicri:noRegion>L3R 5H6</wicri:noRegion></affiliation></author><author><name sortKey="Mihailidis, Alex" sort="Mihailidis, Alex" uniqKey="Mihailidis A" first="Alex" last="Mihailidis">Alex Mihailidis</name><affiliation wicri:level="4"><nlm:aff id="I1">Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ONT, M5S 3G9, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ONT, M5S 3G9</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I2">Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Toronto Rehabilitation Institute, Toronto, ONT, M5G 2A2</wicri:regionArea><wicri:noRegion>M5G 2A2</wicri:noRegion></affiliation><affiliation wicri:level="4"><nlm:aff id="I3">Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7, Canada</nlm:aff><country xml:lang="fr">Canada</country><wicri:regionArea>Department of Occupational Science and Occupational Therapy, University of Toronto, Toronto, ONT, M5G 1V7</wicri:regionArea><orgName type="university">Université de Toronto</orgName><placeName><settlement type="city">Toronto</settlement><region type="state">Ontario</region></placeName></affiliation></author></analytic><series><title level="j">Journal of NeuroEngineering and Rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2008">2008</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Exercise Therapy (instrumentation)</term><term>Exercise Therapy (methods)</term><term>Humans</term><term>Movement Disorders (rehabilitation)</term><term>Pilot Projects</term><term>Robotics (instrumentation)</term><term>Stroke (rehabilitation)</term><term>Therapy, Computer-Assisted (instrumentation)</term><term>Therapy, Computer-Assisted (methods)</term><term>Touch</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Exercise Therapy</term><term>Robotics</term><term>Therapy, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Exercise Therapy</term><term>Therapy, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Movement Disorders</term><term>Stroke</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Arm</term><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Humans</term><term>Pilot Projects</term><term>Touch</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>It has been shown that intense training can significantly improve post-stroke upper-limb functionality. However, opportunities for stroke survivors to practice rehabilitation exercises can be limited because of the finite availability of therapists and equipment. This paper presents a haptic-enabled exercise platform intended to assist therapists and moderate-level stroke survivors perform upper-limb reaching motion therapy. This work extends on existing knowledge by presenting: 1) an anthropometrically-inspired design that maximizes elbow and shoulder range of motions during exercise; 2) an unobtrusive upper body postural sensing system; and 3) a vibratory elbow stimulation device to encourage muscle movement.</p></sec><sec sec-type="methods"><title>Methods</title><p>A multi-disciplinary team of professionals were involved in identifying the rehabilitation needs of stroke survivors incorporating these into a prototype device. The prototype system consisted of an exercise device, postural sensors, and a elbow stimulation to encourage the reaching movement. Eight experienced physical and occupational therapists participated in a pilot study exploring the usability of the prototype. Each therapist attended two sessions of one hour each to test and evaluate the proposed system. Feedback about the device was obtained through an administered questionnaire and combined with quantitative data.</p></sec><sec><title>Results</title><p>Seven of the nine questions regarding the haptic exercise device scored higher than 3.0 (somewhat good) out of 4.0 (good). The postural sensors detected 93 of 96 (97%) therapist-simulated abnormal postures and correctly ignored 90 of 96 (94%) of normal postures. The elbow stimulation device had a score lower than 2.5 (neutral) for all aspects that were surveyed, however the therapists felt the rehabilitation system was sufficient for use without the elbow stimulation device.</p></sec><sec><title>Conclusion</title><p>All eight therapists felt the exercise platform could be a good tool to use in upper-limb rehabilitation as the prototype was considered to be generally well designed and capable of delivering reaching task therapy. The next stage of this project is to proceed to clinical trials with stroke patients.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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