A Comparative Analysis of 2D and 3D Tasks for Virtual Reality Therapies Based on Robotic-Assisted Neurorehabilitation for Post-stroke Patients

Post-stroke neurorehabilitation based on virtual therapies are performed completing repetitive exercises shown in visual electronic devices, whose content represents imaginary or daily life tasks. Currently, there are two ways of visualization of these task. 3D virtual environments are used to get a three dimensional space that represents the real world with a high level of detail, whose realism is determinated by the resolucion and fidelity of the objects of the task. Furthermore, 2D virtual environments are used to represent the tasks with a low degree of realism using techniques of bidimensional graphics. However, the type of visualization can influence the quality of perception of the task, affecting the patient's sensorimotor performance. The purpose of this paper was to evaluate if there were differences in patterns of kinematic movements when post-stroke patients performed a reach task viewing a virtual therapeutic game with two different type of visualization of virtual environment: 2D and 3D. Nine post-stroke patients have participated in the study receiving a virtual therapy assisted by PUPArm rehabilitation robot. Horizontal movements of the upper limb were performed to complete the aim of the tasks, which consist in reaching peripheral or perspective targets depending on the virtual environment shown. Various parameter types such as the maximum speed, reaction time, path length, or initial movement are analyzed from the data acquired objectively by the robotic device to evaluate the influence of the task visualization. At the end of the study, a usability survey was provided to each patient to analysis his/her satisfaction level. For all patients, the movement trajectories were enhanced when they completed the therapy. This fact suggests that patient's motor recovery was increased. Despite of the similarity in majority of the kinematic parameters, differences in reaction time and path length were higher using the 3D task. Regarding the success rates were very similar. In conclusion, the using of 2D environments in virtual therapy may be a more appropriate and comfortable way to perform tasks for upper limb rehabilitation of post-stroke patients, in terms of accuracy in order to effectuate optimal kinematic trajectories

Synchronization of Slow Cortical Rhythms During Motor Imagery-Based Brain–Machine Interface Control

Modulation of sensorimotor rhythm (SMR) power, a rhythmic brain oscillation physiologically linked to motor imagery, is a popular Brain–Machine Interface (BMI) paradigm, but its interplay with slower cortical rhythms, also involved in movement preparation and cognitive processing, is not entirely understood. In this study, we evaluated the changes in phase and power of slow cortical activity in delta and theta bands, during a motor imagery task controlled by an SMR-based BMI system. In Experiment I, EEG of 20 right-handed healthy volunteers was recorded performing a motor-imagery task using an SMR-based BMI controlling a visual animation, and during task-free intervals. In Experiment II, 10 subjects were evaluated along five daily sessions, while BMI-controlling same visual animation, a buzzer, and a robotic hand exoskeleton. In both experiments, feedback received from the controlled device was proportional to SMR power (11–14 Hz) detected by a real-time EEG-based system. Synchronization of slow EEG frequencies along the trials was evaluated using inter-trial-phase coherence (ITPC). Results: cortical oscillations of EEG in delta and theta frequencies synchronized at the onset and at the end of both active and task-free trials; ITPC was significantly modulated by feedback sensory modality received during the tasks; and ITPC synchronization progressively increased along the training. These findings suggest that phase-locking of slow rhythms and resetting by sensory afferences might be a functionally relevant mechanism in cortical control of motor function. We propose that analysis of phase synchronization of slow cortical rhythms might also improve identification of temporal edges in BMI tasks and might help to develop physiological markers for identification of context task switching and practice-related changes in brain function, with potentially important implications for design and monitoring of motor imagery-based BMI systems, an emerging tool in neurorehabilitation of stro

Tele-rehabilitation versus local rehabilitation therapies assisted by robotic devices: a pilot study with patients

The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. We have also explored if this type of strategy is applicable in a tele-rehabilitation environment. A pilot study has been carried out involving 10 patients who have performed a point-to-point rehabilitation exercise supported by three assistance modalities: fixed assistance (without therapist interaction), local therapist assistance, and remote therapist assistance in a simulated tele-rehabiliation scenario. The rehabilitation exercise will be performed using an upper-limb rehabilitation robotic device that assists the patients through force fields. The results suggest that the assistance provided by the therapist is better adapted to patient needs than fixed assistance mode. Therefore, it maximizes the patient's level of effort, which is an important aspect to improve the rehabilitation outcomes. We have also seen that in a tele-rehabilitation environment it is more difficult to assess when to assist the patient than locally. However, the assistance suits patients better than the fixed assistance mode

Virtual environment control throught BCI-hybrid interface using EOG/EEG signals during motor imagery

[Resumen] La discapacidad producida por las enfermedades neurológicas es uno de los primeros problemas de salud y calidad de vida en las sociedades avanzadas. Las tecnologías asistenciales han demostrado poder aumentar la independencia de los pacientes y mejorar su capacidad de controlar su entorno. Los sistemas híbridos interfaces cerebro-computadora (BCI), que utilizan una fusión de señales no invasivas basadas en EOG y EEG, son sistemas prometedores para el desarrollo de este tipo de aplicaciones. En este estudio participaron ocho sujetos con patología neurológica (accidente cerebro-vascular, lesión medular o enfermedad neurodegenerativa). Los pacientes a través de BCIEEG y EOG navegaban por el entorno virtual realizando diferentes actividades de la vida diaria (AVD). El objetivo principal de esta experimentación fue evaluar el rendimiento de un grupo de sujetos con discapacidad física severa para la ejecución de un conjunto de tareas implementadas en un entorno de navegación virtual, utilizando un interfaz de control mediante BCI híbrido (EOG y EEG basado en imaginería motora).[Abstract] Dissabilities produced by neurological diseases are the first problem of health and life quality in this society. Assistance technology has demostrated increase the patient's independence and improve the capability to facilitate their environmental control. BCI hybrid systems that use a signal non-invasive fusion based in EOG and EEG are promising systems. In this study eight subjects with neurological pathology (stroke, spinal cord injury or neurodegenerative disease) were participed. The patients navegated along the virtual environment through EEG and EOG performed several ADLs. The main aim of this experimentation was evaluated the subject's performance with several physic disability for the execution of tasks implemented in a virtual environment using a control interface throught BCI-hybrid system (EOG and EEG based in motor imagery)

Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks

This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on the pseudoinverse of the Jacobian through the acceleration of the upper arm, measured using an accelerometer, and the orientation of the shoulder, estimated with a magnetic angular rate and gravity (MARG) device. The results show a high accuracy in terms of arm joints and shoulder movement with respect to the real arm measured through an optoelectronic system. Furthermore, the range of motion (ROM) of 50 healthy subjects is studied from two different trials, one trying to avoid shoulder movements and the second one forcing them. Moreover, the shoulder movement in the second trial is also estimated accurately. Besides the fact that the posture of the patient can be corrected during the exercise, the therapist could use the presented algorithm as an objective assessment tool. In conclusion, the joints’ estimation enables a better adjustment of the therapy, taking into account the needs of the patient, and consequently, the arm motion improves faster

Additional file 1 of Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices

Solution of Îł angle. (PDF 104 kb

Additional file 2 of Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices

Estimation of the initial conditions. (PDF 107 kb

Raw data employed to perform the algorithm used in the scientific paper: "Kinematic reconstruction of the upper limb joints in planar robot-aided therapies

<p>These files contain the raw data (acquired from different users) necessary to perform the algorithm introduced in the scientific paper:</p> <p>PAPER: Kinematic reconstruction of the upper limb joints in planar robot-aided therapies</p> <p>Authors: Arturo Bertomeu-Motos, Ricardo Morales, Jorge A. Díez, Luis D. Lledó, Francisco J. Badesa, Nicolas Garcia-Aracil</p> <p>Conference: ICORR 2015, IEEE 14th International Conference on Rehabilitation Robotics, August 2015</p> <p><br> All the orientations are expressed regarding the origin of the robot.</p> <p>a) Robot Joints: Planar robot joints acquired during the experiment, in radians (j1-j3 columns). This robot is referenced in the paper.<br> b) Quaternion IMU shoulder: Unit quatenion acquired through a 9DoFs Inertial Measurement Unit (IMU) developed by Shimmer (qw1-qz columns).<br> c) Upper arm acceleration: Acceleration acquired from a 3-axial accelerometer developed by Shimmer (X-Z columns). It is normalized regarding the gravity (9.81m/s^2).<br> d) Quaternion Tracker onto Shoulder: unit quaternion of the tracker placed onto the shoulder acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).<br> e) Quaternion Tracker onto Upper Arm: unit quaternion of the tracker placed onto the upper arm acquired from the tracking camera V120:trio developed by Optitrack (qw1-qz columns).</p

Aprendizaje Basado en Proyectos en Robótica del Máster Universitario en Automática y Robótica

La presente red docente se enmarca dentro del desarrollo y puesta en marcha de metodologías que fomentan un aprendizaje más reflexivo, autónomo, colaborativo, participativo, significativo, basado en el emprendimiento y el aprender a aprender. Se trata de introducir el aprendizaje basado en proyectos en la asignatura Robótica (37801) del Máster Universitario en Automática y Robótica. Esta asignatura se ha impartido durante los 10 cursos anteriores de manera tradicional, es decir, con clases teóricas en formato magistral, donde el profesor impartía los contenidos teóricos en el marco de una presentación oral con preguntas de los alumnos durante la presentación o al final de ésta. Además, se impartían una serie de prácticas guiadas, donde los alumnos afianzaban los contenidos teóricos y adquirían las competencias prácticas de la asignatura. Con la propuesta del empleo de proyectos para gestionar el aprendizaje del alumno se pretende que sean ellos los que vayan adquiriendo el conocimiento necesario para la resolución de los proyectos. El profesor pasa a ser un guía del proceso de aprendizaje, proporcionando el material necesario para que el alumno pueda continuar con el desarrollo de su proyecto real entendiendo cada concepto teórico implicado en él

Dataset of the scientific paper "A Comparative Analysis of 2D and 3D Tasks for Virtual Reality Therapies Based on Robotic-Assisted Neurorehabilitation for Post-stroke Patients" (Front. Aging Neurosci.)

<p> There are three files with the following information:<br>     - data_2d.bin, binary file with information of the different parameters of the nine subjects during 2d tasks<br>     - data_3d.bin, binary file with information of the different parameters of the nine subjects during 3d tasks<br>     - survey.bin, binary file with the score of the System Usability Scale (SUS) survey of each subject</p