scholarly journals Quantitative Assessment of Motor Function for Patients with a Stroke by an End-Effector Upper Limb Rehabilitation Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Yali Liu ◽  
Qiuzhi Song ◽  
Chong Li ◽  
Xinyu Guan ◽  
Linhong Ji
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Quantitative Assessment ◽  
Assessment Method ◽  
Rehabilitation Robot ◽  
Training Process ◽  
Movement Accuracy ◽  
Rehabilitation Robots ◽  
Point To Point ◽  
Circle Drawing

With the popularization of rehabilitation robots, it is necessary to develop quantitative motor function assessment methods for patients with a stroke. To make the assessment equipment easier to use in clinics and combine the assessment methods with the rehabilitation training process, this paper proposes an anthropomorphic rehabilitation robot based on the basic movement patterns of the upper limb, point-to-point reaching and circle drawing movement. This paper analyzes patients’ movement characteristics in aspects of movement range, movement accuracy, and movement smoothness and the output force characteristics by involving 8 patients. Besides, a quantitative assessment method is also proposed based on multivariate fitting methods. It can be concluded that the area of the real trajectory and movement accuracy during circle drawing movement as well as the ratio of force along the sagittal axis in backward point-to-point movement are the unique parameters that are different remarkably between stroke patients and healthy subjects. The fitting function has a high goodness of fit with the Fugl-Meyer scores for the upper limb (R2=0.91, p=0.015), which demonstrates that the fitting function can be used to assess patients’ upper limb movement function. The indicators are recorded during training movement, and the fitting function can calculate the scores immediately, which makes the functional assessment quantitative and timely. Combining the training process and assessment, the quantitative assessment method will farther expand the application of rehabilitation robots.

Study of Adjusted Rapid Upper Limb Assessment for Evaluating of Rehabilitation Effects

2014 ◽  
Vol 625 ◽  
pp. 644-648
Author(s):  
Choong Pyo Jeong ◽  
Dong Hwan Shin ◽  
Tae Sang Park ◽  
Jung Hyun Choi ◽  
Jeon Il Moon ◽  
...  
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Quantitative Assessment ◽  
Physical Disabilities ◽  
Assessment Method ◽  
Accurate Diagnosis ◽  
Working Environment ◽  
The Other ◽  
Lower Limbs ◽  
Diagnostic Approaches

As it is well-known, the stroke is known to be a cerebrovascular disease due to circulation disorders. Physical disabilities do remain due to nerve damages after strokes occur. These physical disabilities of the patient can be reduced by the rehabilitation treatment. This effect of rehabilitation appears with improvements of motor function. In order to evaluate the improvements of this motor function, therapists have used Fugl-Meyer assessment method (FMA). FMA method consists of fifty command motions such as thirty three command motions for motor function’s assessment of upper limbs and seventeen command motions for lower limbs. Further FMA method suggests three scores per each command motions. So to speak, in the FMA method, if the patients perform perfectly a given command motion, then they receive 2 points in a given command motion. Also if the patients cannot perform, they receive 0 point. Finally, if the patients perform partially, they receive 1 point. FMA method has a limit that cannot suggest exact assessments of the recovering patients. For the example, improvements of motor function of a patient cannot be evaluated from the initial stroke to full recovery. So it is hard to accurate diagnosis about patient's improvement. On the other hands, rapid upper limb assessment (RULA) method is suggested to evaluate the fatigue of muscle in a working environment. This RULA method suggests more detailed and quantitative assessment with diagnostic approaches than FMA method.

scholarly journals Upper-Limb Muscle Synergy Features in Human-Robot Interaction with Circle-Drawing Movements

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Cheng Wang ◽  
Shutao Zhang ◽  
Jingyan Hu ◽  
Zhejing Huang ◽  
Changcheng Shi
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Healthy Subjects ◽  
Human Robot Interaction ◽  
Muscle Synergy ◽  
Muscle Synergies ◽  
Robot Interaction ◽  
Rehabilitation Robots ◽  
Circle Drawing ◽  
Semg Signals

The upper-limb rehabilitation robots can be developed as an efficient tool for motor function assessments. Circle-drawing has been used as a specific task for robot-based motor function measurement. The upper-limb movement-related kinematic and kinetic parameters measured by motion and force sensors embedded in the rehabilitation robots have been widely studied. However, the muscle synergies characterized by multiple surface electromyographic (sEMG) signals in upper limbs during human-robot interaction (HRI) with circle-drawing movements are rarely investigated. In this research, the robot-assisted and constrained circle-drawing movements for upper limb were used to increase the consistency of muscle synergy features. Both clockwise and counterclockwise circle-drawing tasks were implemented by all healthy subjects using right hands. The sEMG signals were recorded from six muscles in upper limb, and nonnegative matrix factorization (NMF) analysis was utilized to obtain muscle synergy information. Both synergy pattern and activation coefficient were calculated to represent the spatial and temporal features of muscle synergies, respectively. The results obtained from the experimental study confirmed that high structural similarity of muscle synergies was found among the subjects during HRI with circle-drawing movement by healthy subjects, which indicates healthy people may share a common underlying muscle control mechanism during constrained upper-limb circle-drawing movement. This study indicates the muscle synergy analysis during the HRI with constrained circle-drawing movement could be considered as a task for upper-limb motor function assessment.

scholarly journals Quantitative Assessment of Upper Limb Motor Function in Ethiopian Acquired Brain Injured Patients Using a Low-Cost Wearable Sensor

2019 ◽  
Vol 10 ◽  
Author(s):  
Charmayne M. L. Hughes ◽  
Moges Baye ◽  
Chloe Gordon-Murer ◽  
Alexander Louie ◽  
Selena Sun ◽  
...  
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Quantitative Assessment ◽  
Low Cost ◽  
Wearable Sensor ◽  
Brain Injured ◽  
Injured Patients

Study of Co-Simulation of Rehabilitation Robot for Upper Limb Based on Virtual Prototype

2013 ◽  
Vol 712-715 ◽  
pp. 2272-2276
Author(s):  
Zhi Lan ◽  
Zhen Yan ◽  
Jian Jun Xu
Keyword(s):  
Upper Limb ◽  
Virtual Prototype ◽  
Rehabilitation Robot ◽  
Electrical System ◽  
Kinematic Parameters ◽  
Rehabilitation Robots ◽  
Dynamics And Control ◽  
Intellectual Control ◽  
Set Up ◽  
And Control

A novel rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the software ADAMS and the software MATLAB/Simulink, the virtual prototype and the platform of co-simulation of mechanical-electrical system were set up. On the platform of co-simulation, the rehabilitation robots kinematics, dynamics and control have been simulated, and each joints kinematic parameters, torque can be obtained, and parameters of controller can be also confirmed. It offered reliance for the actual intellectual control of the rehabilitation robot.

scholarly journals Configuration Design of an Upper Limb Rehabilitation Robot with a Generalized Shoulder Joint

2021 ◽  
Vol 11 (5) ◽  
pp. 2080
Author(s):  
Hao Yan ◽  
Hongbo Wang ◽  
Peng Chen ◽  
Jianye Niu ◽  
Yuansheng Ning ◽  
...  
Keyword(s):  
Upper Limb ◽  
Shoulder Joint ◽  
Configuration Model ◽  
Configuration Design ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Closed Chain ◽  
Limb Rehabilitation ◽  
Human Upper Limb

For stroke patients with upper limb motor dysfunction, rehabilitation training with the help of rehabilitation robots is a social development trend. Existing upper limb rehabilitation robots have difficulty fully fitting the complex motion of the human shoulder joint and have poor human–robot compatibility. In this paper, based on the anatomical structure of the human upper limb, an equivalent mechanism model of the human upper limb is established. The configuration synthesis of the upper limb rehabilitation mechanism was carried out, a variety of shoulder joint man–machine closed-chain Θs and shoulder elbow human–machine closed-chain Θse configuration combinations were synthesized, and the configuration model with compatibility and reduced moment conduction attenuation was selected from them. Two configurations, 2Pa1P3Ra and 5Ra1P, are proposed for the generalized shoulder joint mechanism of the robot. The closed-chain kinematic models of the two configurations are established, and the velocity Jacobian matrix is obtained. Motion performance analysis, condition reciprocal analysis and operability ellipsoid analysis of different configuration design schemes were carried out in different operation planes. The results show that in the normal upper limb posture of the human body, the 5Ra1P configuration of the shoulder joint has better kinematic performance. Finally, on this basis, an upper limb rehabilitation robot prototype with good human–computer compatibility is developed, and its moving space was verified.

Impact of smart force feedback rehabilitation robot training on upper limb motor function in the subacute stage of stroke

2020 ◽  
Vol 47 (2) ◽  
pp. 209-215
Author(s):  
Quan Xu ◽  
Chong Li ◽  
Yu Pan ◽  
Wei Li ◽  
Tianyu Jia ◽  
...  
Keyword(s):  
Occupational Therapy ◽  
Motor Function ◽  
Upper Limb ◽  
Statistical Significance ◽  
Acute Stage ◽  
Control Group ◽  
Rehabilitation Robot ◽  
Training Time ◽  
Upper Limb Rehabilitation ◽  
The Impact

OBJECTIVE: To explore the impact of rehabilitation robot training (RRT) on upper limb motor function and daily activity ability in patients with stroke. METHODS: Forty patients meeting the inclusion criteria were randomly divided into the treatment group (TRE) and the control group (CON). Group TRE was trained with an upper limb rehabilitation robot and group CON was trained with traditional occupational therapy. The training time was six weeks, and the upper limb function and daily activities were then assessed. RESULTS: (1) There was no statistical significance in the Fugl-Meyer (FM) score, Wolf Motor Function Test (WMFT) score, and Modified Barthel Index (MBI) score between the two groups before treatment (P > 0.05). (2) After treatment, the FM score, WMFT score, and MBI score were significantly higher than before treatment (P < 0.01). (3) There was no significant significance between the two groups after treatment (P > 0.05). CONCLUSIONS: Both RRT and traditional occupational therapy training are useful for the recovery of upper limb motor function and daily life ability in the sub-acute stage of stroke.

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