Robot-Assisted Arm Assessments in Spinal Cord Injured Patients: A Consideration of Concept Study
Identifieur interne : 000616 ( Main/Exploration ); précédent : 000615; suivant : 000617Robot-Assisted Arm Assessments in Spinal Cord Injured Patients: A Consideration of Concept Study
Auteurs : Urs Keller [Suisse] ; Sabine Schölch [Suisse] ; Urs Albisser [Suisse] ; Claudia Rudhe [Suisse] ; Armin Curt [Suisse] ; Robert Riener [Suisse] ; Verena Klamroth-Marganska [Suisse]Source :
- PLoS ONE [ 1932-6203 ] ; 2015.
Abstract
Robotic assistance is increasingly used in neurological rehabilitation for enhanced training. Furthermore, therapy robots have the potential for accurate assessment of motor function in order to diagnose the patient status, to measure therapy progress or to feedback the movement performance to the patient and therapist in real time. We investigated whether a set of robot-based assessments that encompasses kinematic, kinetic and timing metrics is applicable, safe, reliable and comparable to clinical metrics for measurement of arm motor function. Twenty-four healthy subjects and five patients after spinal cord injury underwent robot-based assessments using the exoskeleton robot ARMin. Five different tasks were performed with aid of a visual display. Ten kinematic, kinetic and timing assessment parameters were extracted on joint- and end-effector level (active and passive range of motion, cubic reaching volume, movement time, distance-path ratio, precision, smoothness, reaction time, joint torques and joint stiffness). For cubic volume, joint torques and the range of motion for most joints, good inter- and intra-rater reliability were found whereas precision, movement time, distance-path ratio and smoothness showed weak to moderate reliability. A comparison with clinical scores revealed good correlations between robot-based joint torques and the Manual Muscle Test. Reaction time and distance-path ratio showed good correlation with the “Graded and Redefined Assessment of Strength, Sensibility and Prehension” (GRASSP) and the Van Lieshout Test (VLT) for movements towards a predefined position in the center of the frontal plane. In conclusion, the therapy robot ARMin provides a comprehensive set of assessments that are applicable and safe. The first results with spinal cord injured patients and healthy subjects suggest that the measurements are widely reliable and comparable to clinical scales for arm motor function. The methods applied and results can serve as a basis for the future development of end-effector and exoskeleton-based robotic assessments.
Url:
DOI: 10.1371/journal.pone.0126948
PubMed: 25996374
PubMed Central: 4440615
Affiliations:
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type="wicri:Area/Main/Exploration">000616</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Robot-Assisted Arm Assessments in Spinal Cord Injured Patients: A Consideration of Concept Study</title><author><name sortKey="Keller, Urs" sort="Keller, Urs" uniqKey="Keller U" first="Urs" last="Keller">Urs Keller</name><affiliation wicri:level="1"><nlm:aff id="aff001"><addr-line>Sensory-Motor Systems Lab, Department of Health Sciences and Technology ETH Zurich, Zurich, Switzerland</addr-line></nlm:aff><country xml:lang="fr">Suisse</country><wicri:regionArea>Sensory-Motor Systems Lab, Department of Health Sciences and Technology ETH Zurich, Zurich</wicri:regionArea><wicri:noRegion>Zurich</wicri:noRegion></affiliation><affiliation wicri:level="1"><nlm:aff id="aff002"><addr-line>Balgrist University Hospital, University of Zurich, Zurich, Switzerland</addr-line></nlm:aff><country xml:lang="fr">Suisse</country><wicri:regionArea>Balgrist University 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Zurich</wicri:regionArea><wicri:noRegion>Zurich</wicri:noRegion></affiliation><affiliation wicri:level="1"><nlm:aff id="aff002"><addr-line>Balgrist University Hospital, University of Zurich, Zurich, Switzerland</addr-line></nlm:aff><country xml:lang="fr">Suisse</country><wicri:regionArea>Balgrist University Hospital, University of Zurich, Zurich</wicri:regionArea><wicri:noRegion>Zurich</wicri:noRegion></affiliation></author></analytic><series><title level="j">PLoS ONE</title><idno type="eISSN">1932-6203</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Robotic assistance is increasingly used in neurological rehabilitation for enhanced training. Furthermore, therapy robots have the potential for accurate assessment of motor function in order to diagnose the patient status, to measure therapy progress or to feedback the movement performance to the patient and therapist in real time. We investigated whether a set of robot-based assessments that encompasses kinematic, kinetic and timing metrics is applicable, safe, reliable and comparable to clinical metrics for measurement of arm motor function. Twenty-four healthy subjects and five patients after spinal cord injury underwent robot-based assessments using the exoskeleton robot ARMin. Five different tasks were performed with aid of a visual display. Ten kinematic, kinetic and timing assessment parameters were extracted on joint- and end-effector level (active and passive range of motion, cubic reaching volume, movement time, distance-path ratio, precision, smoothness, reaction time, joint torques and joint stiffness). For cubic volume, joint torques and the range of motion for most joints, good inter- and intra-rater reliability were found whereas precision, movement time, distance-path ratio and smoothness showed weak to moderate reliability. A comparison with clinical scores revealed good correlations between robot-based joint torques and the Manual Muscle Test. Reaction time and distance-path ratio showed good correlation with the “Graded and Redefined Assessment of Strength, Sensibility and Prehension” (GRASSP) and the Van Lieshout Test (VLT) for movements towards a predefined position in the center of the frontal plane. In conclusion, the therapy robot ARMin provides a comprehensive set of assessments that are applicable and safe. The first results with spinal cord injured patients and healthy subjects suggest that the measurements are widely reliable and comparable to clinical scales for arm motor function. The methods applied and results can serve as a basis for the future development of end-effector and exoskeleton-based robotic assessments.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Lee, B" uniqKey="Lee B">B Lee</name></author><author><name sortKey="Cripps, R" uniqKey="Cripps R">R Cripps</name></author><author><name sortKey="Fitzharris, M" uniqKey="Fitzharris M">M Fitzharris</name></author><author><name sortKey="Wing, P" uniqKey="Wing P">P Wing</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mayo, Ne" uniqKey="Mayo N">NE Mayo</name></author><author><name sortKey="Wood Dauphinee, S" uniqKey="Wood Dauphinee S">S Wood-Dauphinee</name></author><author><name sortKey="Cote, R" uniqKey="Cote R">R Côté</name></author><author><name sortKey="Durcan, L" uniqKey="Durcan L">L Durcan</name></author><author><name sortKey="Carlton, J" uniqKey="Carlton J">J 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uniqKey="Keller U">U Keller</name></author><author><name sortKey="Klamroth, V" uniqKey="Klamroth V">V Klamroth</name></author><author><name sortKey="Van Hedel, Hj" uniqKey="Van Hedel H">HJ van Hedel</name></author><author><name sortKey="Riener, R" uniqKey="Riener R">R Riener</name></author></analytic></biblStruct></listBibl></div1></back></TEI><affiliations><list><country><li>Suisse</li></country></list><tree><country name="Suisse"><noRegion><name sortKey="Keller, Urs" sort="Keller, Urs" uniqKey="Keller U" first="Urs" last="Keller">Urs Keller</name></noRegion><name sortKey="Albisser, Urs" sort="Albisser, Urs" uniqKey="Albisser U" first="Urs" last="Albisser">Urs Albisser</name><name sortKey="Curt, Armin" sort="Curt, Armin" uniqKey="Curt A" first="Armin" last="Curt">Armin Curt</name><name sortKey="Keller, Urs" sort="Keller, Urs" uniqKey="Keller U" first="Urs" last="Keller">Urs Keller</name><name sortKey="Klamroth Marganska, Verena" sort="Klamroth Marganska, Verena" uniqKey="Klamroth Marganska V" first="Verena" last="Klamroth-Marganska">Verena Klamroth-Marganska</name><name sortKey="Klamroth Marganska, Verena" sort="Klamroth Marganska, Verena" uniqKey="Klamroth Marganska V" first="Verena" last="Klamroth-Marganska">Verena Klamroth-Marganska</name><name sortKey="Riener, Robert" sort="Riener, Robert" uniqKey="Riener R" first="Robert" last="Riener">Robert Riener</name><name sortKey="Riener, Robert" sort="Riener, Robert" uniqKey="Riener R" first="Robert" last="Riener">Robert Riener</name><name sortKey="Rudhe, Claudia" sort="Rudhe, Claudia" uniqKey="Rudhe C" first="Claudia" last="Rudhe">Claudia Rudhe</name><name sortKey="Scholch, Sabine" sort="Scholch, Sabine" uniqKey="Scholch S" first="Sabine" last="Schölch">Sabine Schölch</name><name sortKey="Scholch, Sabine" sort="Scholch, Sabine" uniqKey="Scholch S" first="Sabine" last="Schölch">Sabine Schölch</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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