Potential of a suite of robot/computer-assisted motivating systems for personalized, home-based, stroke rehabilitation

BACKGROUND: There is a need to improve semi-autonomous stroke therapy in home environments often characterized by low supervision of clinical experts and low extrinsic motivation. Our distributed device approach to this problem consists of an integrated suite of low-cost robotic/computer-assistive technologies driven by a novel universal access software framework called UniTherapy. Our design strategy for personalizing the therapy, providing extrinsic motivation and outcome assessment is presented and evaluated. METHODS: Three studies were conducted to evaluate the potential of the suite. A conventional force-reflecting joystick, a modified joystick therapy platform (TheraJoy), and a steering wheel platform (TheraDrive) were tested separately with the UniTherapy software. Stroke subjects with hemiparesis and able-bodied subjects completed tracking activities with the devices in different positions. We quantify motor performance across subject groups and across device platforms and muscle activation across devices at two positions in the arm workspace. RESULTS: Trends in the assessment metrics were consistent across devices with able-bodied and high functioning strokes subjects being significantly more accurate and quicker in their motor performance than low functioning subjects. Muscle activation patterns were different for shoulder and elbow across different devices and locations. CONCLUSION: The Robot/CAMR suite has potential for stroke rehabilitation. By manipulating hardware and software variables, we can create personalized therapy environments that engage patients, address their therapy need, and track their progress. A larger longitudinal study is still needed to evaluate these systems in under-supervised environments such as the home

Perseverance with technology-facilitated home-based upper limb practice after stroke: a systematic mixed studies review

Background: Technology is being increasingly investigated as an option to allow stroke survivors to exploit their full potential for recovery by facilitating home-based upper limb practice. This review seeks to explore the factors that influence perseverance with technology-facilitated home-based upper limb practice after stroke. Methods: A systematic mixed studies review with sequential exploratory synthesis was undertaken. Studies investigating adult stroke survivors with upper limb disability undertaking technology-facilitated home-based upper limb practice administered ≥ 3 times/week over a period of ≥ 4 weeks were included. Qualitative outcomes were stroke survivors’ and family members’ perceptions of their experience utilising technology to facilitate home-based upper limb practice. Quantitative outcomes were adherence and dropouts, as surrogate measures of perseverance. The Mixed Methods Appraisal Tool was used to assess quality of included studies. Results: Forty-two studies were included. Six studies were qualitative and of high quality; 28 studies were quantitative and eight were mixed methods studies, all moderate to low quality. A conceptual framework of perseverance with three stages was formed: (1) getting in the game; (2) sticking with it, and; (3) continuing or moving on. Conditions perceived to influence perseverance, and factors mediating these conditions were identified at each stage. Adherence with prescribed dose ranged from 13 to 140%. Participants were found to be less likely to adhere when prescribed sessions were more frequent (6–7 days/week) or of longer duration (≥ 12 weeks). Conclusion: From the mixed methods findings, we propose a framework for perseverance with technology-facilitated home-based upper limb practice. The framework offers opportunities for clinicians and researchers to design strategies targeting factors that influence perseverance with practice, in both the clinical prescription of practice and technology design. To confirm the clinical utility of this framework, further research is required to explore perseverance and the factors influencing perseverance

The Investigation of Motor Primitives During Human Reaching Movements and the Quantification of Post-Stroke Motor Impairment

Movement is a complex task, requiring precise and coordinated muscle contractions. The forces and torques produced during multi-segmental movement of the upper limbs in humans, must be controlled, in order for movement to be achieved successfully. Although a critical aspect of everyday life, there remain questions regarding the specific controller used by the central nervous system to govern movement. Furthermore, how this system is affected by neurological injuries such as stroke also remains in question. It was the goal of this thesis to examine the neurological control of movement in healthy individuals and apply these findings to the further investigation of chronically motor impaired stroke patients. Additionally, this work aimed at providing clinicians with a more reliable, easy to use, and inexpensive approach to quantify post-stroke motor impairment

Technology-supported training of arm-hand skills in stroke

Impaired arm-hand performance is a serious consequence of stroke that is associated with reduced self-efficacy and poor quality of life. Task-oriented arm training is a therapy approach that is known to improve skilled arm-hand performance, even in chronic stages after stroke. At the start of this project, little knowledge had been consolidated regarding taskoriented arm training characteristics, especially in the field of technology-supported rehabilitation. The feasibility and effects of technology-supported client-centred task-oriented training on skilled arm-hand performance had not been investigated but to a very limited degree. Reviewing literature on rehabilitation and motor learning in stroke led to the identification of therapy oriented criteria for rehabilitation technology aiming to influence skilled arm-hand performance (chapter 2). Most rehabilitation systems reported in literature to date are robotic systems that are aimed at providing an engaging exercise environment and feedback on motor performance. Both, feedback and engaging exercises are important for motivating patients to perform a high number of exercise repetitions and prolonged training, which are important factors for motor learning. The review also found that current rehabilitation technology is focussed mainly on providing treatment at a function level, thereby improving joint range of motion, muscle strength and parameters such as movement speed and smoothness of movement during analytical movements. However, related research has found no effects of robot-supported training at the activity level. The review concluded that a challenge exists for upper extremity rehabilitation technology in stroke patients to also provide more patienttailored task-oriented arm-hand training in natural environments to support the learning of skilled arm-hand performance. Besides mapping the strengths of different technological solutions, the use of outcome measures and training protocols needs to become more standardized across similar interventions, in order to help determine which training solutions are most suitable for specific patient categories. Chapter 4 contributes towards such a standardization of outcome measurement. A concept is introduced which may guide the clinician/researcher to choose outcome measures for evaluating specific and generalized training effects. As an initial operationalization of this concept, 28 test batteries that have been used in 16 task-oriented training interventions were rated as to whether measurement components were measured by the test. Future research is suggested that elaborates the concept with information on the relative weighing of components in each test, with more test batteries (which may lead to additional components) and by adding more test properties into the concept (e.g. psychometric properties of the tests, possible floor- or ceiling effects). Task-oriented training is one of the training approaches that has been shown to be beneficial for skilled arm-hand performance after stroke. Important mechanisms for motor learning that are identified are patient motivation for such training, and the learning of efficient goaloriented movement strategies and task-specific problem solving. In this thesis we operationalize task-oriented training in terms of 15 components (chapter 3). A systematic review that included 16 randomized controlled trials using task-oriented training in stroke patients, evaluated the effects of these training components on skilled arm-hand performance. The number of training components used in an intervention aimed at improving arm-hand performance after stroke was not associated with the post-treatment effect size. Distributed practice and feedback were associated with the largest post-intervention effect sizes. Random practice and use of clear functional training goals were associated with the largest follow-up effect sizes. It may be that training components that optimize the storage of learned motor performance in the long-term memory are associated with larger treatment effects. Unfortunately, feedback, random practice and distributed practice were reported in very few of the included randomized controlled trials (in only 6,3 and 1 out of the 17 studies respectively). Client-centred training, i.e. training on exercises that support goals that are selected by the patients themselves, improves patient motivation for training. Motivation in turn has proven to positively influence motor learning in stroke patients, as attention during training is heightened and storage of information in the long-term memory improves. Chapter 5 reports on an interview of 40 stroke patients, investigating into training preferences. A list of 46 skills, ranked according to descending training preference scores, was provided that can be used for implementation of exercises in rehabilitation technology, in order for technologysupported training to be client-centred. Chapter 6 introduces T-TOAT, a technology supported task-oriented arm training method that was developed together with colleagues at Adelante (Hoensbroek, NL). T-TOAT enables the implementation of exercises that support task-oriented training in rehabilitation technology. The training method is applicable for different technological systems, e.g. robot and sensor systems, or in combination with functional electrical stimulation, etc. To enable the use of TTOAT for training with the Haptic Master Robot (MOOG-FCS, NL), special software named Haptic TOAT was developed in Adelante together with colleagues at the Centre of Technology in Care of Zuyd University (chapter 6). The software enables the recording of the patient’s movement trajectories, given task constraints and patient possibilities, using the Haptic Master as a recording device. A purpose-made gimbal was attached to the endeffector, leaving the hand free for the use and manipulating objects. The recorded movement can be replayed in a passive mode or in an active mode (active, active-assisted or activeresisted). Haptic feedback is provided when the patient deviates from the recorded movement trajectory, as the patient receives the sensation of bouncing into a wall, as well as feeling a spring that pulls him/her back to the recorded path. The diameter of the tunnel around the recorded trajectory (distance to the wall), and the spring force can be adjusted for each patient. An ongoing clinical trial in which chronic stroke patients train with Haptic-TOAT examines whether Haptic Master provides additional value compared to supporting the same exercises by video-instruction only. Together with Philips Research Europe (Eindhoven,Aachen), the T-TOAT method has been implemented in a sensor based prototype, called Philips Stroke Rehabilitation Exerciser. This system included movement tracking sensors and an exercise board interacting with real life objects. A very strong feature of the system is that feedback is provided to patients (real-time and after exercise performance), based on a comparison of the patient’s exercise performance to individual targets set by the therapist. Chapter 7 reports on a clinical trial investigating arm-hand treatment outcome and patient motivation for technology-supported task-oriented training in chronic stroke patients. It was found that 8 weeks of T-TOAT training improved arm-hand performance in chronic stroke patients significantly on Fugl-Meyer, Action Research Arm Test, and Motor Activity Log. An improvement was found in health-related quality of life. Training effects lasted at least 6 months post-training. Participants reported feeling intrinsically motivated and competent to use the system. The results of this study showed that T-TOAT is feasible. Despite the small number of stroke patients tested (n=9), significant and clinically relevant improvements in skilled arm-hand performance were found. In conclusion, this thesis has made several contributions. It motivated the need for clientcentred task-oriented training, which it has operationalized in terms of 15 components. Four of these 15 components were identified as most beneficial for the patient. A prioritized inventory of arm-hand training preferences of stroke patients was compiled by means of an interview study of 40 subacute and chronic stroke patients. T-TOAT, a method for technology-supported, client-centred, task-oriented training, was conceived and implemented in two target technologies (Haptic Master and Philips Stroke Rehabilitation Exerciser). Its feasibility was demonstrated in a clinical trial showing substantial and durable benefits for the stroke patients. Finally, the thesis contributes towards the standardization of outcome measures which is necessary for charting progress and guiding future developments of technology-supported stroke rehabilitation. Methodological considerations were discussed and several suggestions for future research were presented. The variety of treatment approaches and the various ways of support and challenge that are offered by existing rehabilitation technologies hold a large potential for offering a variety of extra training opportunities to stroke patients that may improve their arm-hand performance. Such solutions will be of increasing importance, to alleviate therapists and reduce economic pressure on the health care system, as the stroke incidence is increasing rapidly over the coming decades

Review of automated systems for upper limbs functional assessment in neurorehabilitation

Traditionally, the assessment of upper limb (UL) motor function in neurorehabilitation is carried out by clinicians using standard clinical tests for objective evaluation, but which could be influenced by the clinician's subjectivity or expertise. The automation of such traditional outcome measures (tests) is an interesting and emerging field in neurorehabilitation. In this paper, a systematic review of systems focused on automation of traditional tests for assessment of UL motor function used in neurological rehabilitation is presented. A systematic search and review of related articles in the literature were conducted. The chosen works were analyzed according to the automation level, the data acquisition systems, the outcome generation method, and the focus of assessment. Finally, a series of technical requirements, guidelines, and challenges that must be considered when designing and implementing fully-automated systems for upper extremity functional assessment are summarized. This paper advocates the use of automated assessment systems (AAS) to build a rehabilitation framework that is more autonomous and objective.This work was supported in part by the Spanish Ministry of Economy and Competitiveness via the ROBOHEALTH (DPI2013-47944-C4-1-R) and ROBOESPAS (DPI2017-87562-C2-1-R) Projects, and in part by the RoboCity2030-III-CM project (S2013/MIT-2748) which is funded by the Programas de Actividades I+D Comunidad de Madrid and cofunded by the Structural Funds of the EU

Feasibility of an individualised, task-oriented, video-supported home exercise programme for arm function in patients in the subacute phase after stroke: protocol of a randomised controlled pilot study

INTRODUCTION Stroke rehabilitation guidelines suggest a high-frequency task-oriented training at high intensity. A targeted and self-paced daily training with intermittent supervision is recommended to improve patients' self-management and functional output. So far, there is conflicting evidence concerning the most effective home-training delivery method. METHODS AND ANALYSIS The purpose of this pilot study is to compare the feasibility and preliminary effects of task-oriented home-exercises in patients in the subacute stage after stroke. Twenty-four patients will be randomised (1:1) to a Video group (a) or Paper group (b) of an individualised, task-oriented home-training (50 min, 6×/week, for 4 weeks) based on Wulf and Lewthwaite's Optimizing Performance Through Intrinsic Motivation and Attention for Learning theory of motor learning. Patient-relevant goals will be identified using Goal Attainment Scaling and exercises progressively adapted. Semistructured interviews and a logbook will be used to monitor adherence, arm use and acceptability. Primary outcome will be the feasibility of the methods and a full-scale trial employing predefined feasibility criteria (recruitment, retention and adherence rates, patients' satisfaction with the home-exercise programme and their progress, affected hand use and acceptance of the intervention). Assessed at baseline, post intervention and 4-week follow-up, secondary outcomes include self-perceived hand and arm use, actual upper extremity function and dexterity, hand strength, independence in activities of daily living and health-related quality of life. Interview data will be analysed using qualitative content analysis. Medians (ranges) will be reported for ordinal data, means (SD) for continuous and frequency (percentage) for nominal data. ETHICS AND DISSEMINATION This study follows the Standard Protocol Items: Recommendations for Interventional Trials-Patient-Reported Outcome (PRO) Extension guideline. Ethical approval was received from the Ethics Committee of the Medical University of Innsbruck, Austria (1304/2020). Written informed consent will be obtained from all participants prior to data collection. Study results will be disseminated to participating patients, patient organisations, via the clinic's homepage, relevant conferences and peer-reviewed journals. TRIAL REGISTRATION NUMBER DRKS-ID: DRKS00023395.Study protocol, second revision, 5 December 2021

Control System and Graphical User Interface Design of an Upper-Extremity Rehabilitation Robot

Stroke is one of the leading causes of death, physical disability, and loss of brain functionality each year, especially amongst older adults. The ability to access good quality post-stroke rehabilitation exercises is essential for stroke survivors to maximize their potential to regain skills and physical abilities. Robot-assisted therapy is showing promise as a way to provide stroke survivors with engaging, challenging, and repetitive tasks while delivering measured therapy that is able to objectively evaluate patients’ progress. Among several challenges that are associated with the design of rehabilitation robots (e.g., the mechanical structure, the actuator types, the control strategies), the design of the control strategy is one of the most critical. Depending on the type of patient and the severity of the impairment of motor control, various control strategies could be applied for the recovery of the impaired limb in stroke survivors using robot-assisted therapy. Research is needed into the development of how best to control rehabilitation robots; this includes both the internal control algorithms and the User Interface (UI) for therapists. As such, the first objective of this research is to design and implement a motion controller and force-field controller for a 2-Degree of Freedom (DOF) manipulandum upper-extremity rehabilitation robot that is able to deliver planar rehabilitation exercises for stroke survivors while taking therapeutic rehabilitation goals into account. The motion control algorithm can precisely follow a prescribed time-dependent trajectory whereas the force-control method will only provide assistance (or even resistance to introduce extra challenge) to the patient to do the task rather than forcing the movement. For doing the simulation studies, a motor control model of post-stroke patients was proposed. The effectiveness of these controllers was explored in simulations and it was observed that the developed force-field algorithm had a positive effect on the motor control recovery for a simulated patient. The simulation results also indicated that the resistive mode of therapy would result in better outcomes after the therapy which aligns with experimental studies by other researchers. In addition, a novel adaptive algorithm was proposed for fine-tuning the proposed force-field parameters based on the performance of the patient during the therapy as a subject specific controller can help to achieve a desirable performance for each patient. While this approach is promising, the effectiveness of the adaptation rule has yet to be evaluated on real patients in the future. To enable effective access and use of the robot, the controller needs to be visualized through a Graphical User Interface (GUI) in a way that therapists can understand and use. The second goal of this thesis research was to work with therapists to collaboratively design an intuitive to use GUI for therapists to control the robot and provide objective information on patients’ performance. The identification of features and feedback on the intuitiveness of the GUI developed in this research highlights the value of collaborative design between engineers and therapists to create the interface that enables therapists to control the rehabilitation robot. This research also identifies the need for collaborative GUI design with patients as their needs and preference may be different from therapists. During the collaborative GUI design, it was observed that including obstacles and force-field method might be a possible useful method for supporting patients’ movement trajectory, not only because therapists can adjust the force strength to suit a specific patient, but also because they can use its numerical data for objective measurement of patients’ performance. Therapists who participated in this research stated that objective measurements (i.e., trajectory smoothness, speed, mobility range, and error) could be used to evaluate the patient performance. While rehabilitation robots are different in terms of mechanical structure, work-space, and the exercise that they can provide, similar methods could be used for supporting patients’ movement trajectory and performance evaluation. As the GUI is the first prototype, it needs to be used with and evaluated by therapists and patients to ascertain if the information presented in the GUI is intuitive and to explore if they can understand it or use it

The application of precisely controlled functional electrical stimulation to the shoulder, elbow and wrist for upper limb stroke rehabilitation: a feasibility study.

Functional electrical stimulation (FES) during repetitive practice of everyday tasks can facilitate recovery of upper limb function following stroke. Reduction in impairment is strongly associated with how closely FES assists performance, with advanced iterative learning control (ILC) technology providing precise upper-limb assistance. The aim of this study is to investigate the feasibility of extending ILC technology to control FES of three muscle groups in the upper limb to facilitate functional motor recovery post-stroke