Our group developed a rehabilitation robot to assist with repetitive, active reaching movement of a paretic upper extremity. The robot is equipped with a servo motor-controlled arm-weight support and works in conjunction with neuromuscular electrical stimulation and vibratory stimulation to facilitate agonist-muscle contraction. In this before-and-after pilot study, we assessed the feasibility of applying the robot to improve motor control and function of the hemiparetic upper extremity in patients who suffered chronic stroke.
We enrolled 6 patients with chronic stroke and hemiparesis who, while sitting and without assistance, could reach 10 cm both sagitally and vertically (from a starting position located 10 cm forward from the patient’s navel level) with the affected upper extremity. The patients were assigned to receive reaching exercise intervention with the robot (Yaskawa Electric Co., Ltd. Fukuoka, Japan) for 2 weeks at 15 min/day in addition to regular occupational therapy for 40 min/day. Outcomes assessed before and after 2 weeks of intervention included the upper extremity component of the Fugl-Meyer Assessment (UE-FMA), the Action Research Arm Test (ARAT), and, during reaching movement, kinematic analysis.
None of the patients experienced adverse events. The mean score of UE-FMA increased from 44.8 [SD 14.4] to 48.0 [SD 14.4] (p = 0.026, r = 0.91), and both the shoulder–elbow and wrist–hand scores increased after 2-week intervention. An increase was also observed in ARAT score, from mean 29.8 [SD 16.3] to 36.2 [SD 18.1] (p = 0.042, r = 0.83). Kinematic analysis during the reaching movement revealed a significant increase in active range of motion (AROM) at the elbow, and movement time tended to decrease. Furthermore, trajectory length for the wrist (“hand path”) and the acromion (“trunk compensatory movement”) showed a decreasing trend.
This robot-assisted modality is feasible and our preliminary findings suggest it improved motor control and motor function of the hemiparetic upper extremity in patients with chronic stroke. Training with this robot might induce greater AROM for the elbow and decrease compensatory trunk movement, thus contributing to movement efficacy and efficiency.
Stroke is a leading cause of death and disability. In 2017, the number of patients treated for stroke in Japan was 1,115,000, with 109,844 deaths [1, 2]. Many survivors of stroke require nursing care to some extent; in fact, patients with stroke account for the largest percentage of claims under the Japanese Long-term Care Insurance System . In a previous review, about 90% of patients with stroke had hemiparesis on admission, and less than 15% of them experienced complete motor recovery . In stroke rehabilitation, some principles are well accepted: high-intensity, task-specific, goal-setting, and multidisciplinary-team care are needed to be effective . Among these principles, “task-specific” might be controversial, because some theories of motor control suggest that, on the contrary, motor learning improves, and acquires greater generalizability, when a training program offers variability [6, 7]. The appropriate approach probably depends on the aim of rehabilitation (which can be subject-dependent): for example, a reaching movement with the arm is frequently needed in activities of daily living.
Robotic rehabilitation is a novel intervention method, and several reviews have noted that it leads to improved muscle strength and motor control of the affected upper extremity [8, 9]. A recent Cochrane review suggests that electromechanical and robot-assisted arm training might improve arm function, muscle strength of the upper extremity, and even activity of daily living after stroke . Robotic devices can enable patients to perform task-specific, high-intensity rehabilitation due to increased repetition or amount of training.
At the same time, neuromuscular electrical stimulation (NMES) is widely employed as a rehabilitation technique. According to a previous study, NMES is effective at improving motor control and motor function of affected arms of patients with acute stroke , and the NMES system was more efficient when applied with a high-voltage pulsed current . Although few studies have investigated untriggered NMES for the hemiparetic upper limb, continuous electrical stimulation with robotic training improved active range of motion and motor control , and we employed the NMES system without triggered electromyography (EMG) . Continuous stimulation with NMES has been considered to be effective in facilitating contraction of paretic muscles . Furthermore, the latest meta-analysis showed that electrical stimulation was effective for arm function and activity regardless of the stimulation type (NMES, EMG triggered, or sensory) .
Functional vibratory stimulation (FVS) is known to produce a favorable effect on spasticity, motor control, and gait after stroke . Regarding hemiparetic upper extremities, previous studies have shown that focal vibration applied to paretic muscles is effective at decreasing spasticity with an amplitude of 91 Hz , and that it probably improves motor control with an amplitude of 120 Hz, especially in terms of smoothness of movement . For the lower extremity, a previous study revealed that focal vibration improved gait by promoting contraction of the target muscle . Moreover, not only did it promote contraction of the agonist muscle, low amplitude vibratory stimulation (80 Hz) also facilitated focused motorcortical activation [20, 21]. In addition, tendon or muscle vibration produces a tonic vibration reflex through both spinal and supraspinal pathways via repetitive activation of Ia afferent fibers [22, 23]. It is possible to artificially elicit the illusion of movement by vibrating the tendons or the muscles through the skin ; the illusion is probably mediated by the activation of muscle spindles . This phenomenon indicates that vibration induces a strong proprioceptive feedback. On the other hand, it has been reported that the vastus lateralis muscle demonstrates a shift toward more appropriate muscle timing when vibration is applied during stance phase and transition to stance of the gait cycle in patients with spinal cord injury . This indicates that strong sensory feedback from quadriceps vibration caused increased muscle excitation . Thus, the combination of muscle vibration with NMES might help to recruit Ia afferent fibers and increase muscle force production. This phenomenon has already been demonstrated in healthy people in the plantar flexors . To the best of our knowledge, however, the use of a robotic device equipped with electrical stimulation and vibration has not been reported.
Considering these facts, our group undertook to develop a rehabilitation robot to assist with repetitive, active reaching movement of the paretic upper extremity; patent acquisitions [28,29,30] and product development were accomplished with a medical–engineering collaboration within Kagoshima University and collaboration between industry (Yaskawa Electric Co., Ltd., Fukuoka, Japan) and academia (Kagoshima university). The robot is equipped with a servo motor-controlled arm-weight support via a wire—the system is programmed to assist the patient’s paretic arm to move between two switches (sensors) located at various three-dimensional positions, which provide a variety of reaching tasks—and works in conjunction with NMES and vibratory stimulation to facilitate agonist-muscle contraction, because the combination might strengthen proprioceptive feedback and tonic vibration reflex. Indeed, this device was applicable and beneficial for a patient with incomplete spinal cord injury . In the before-and-after pilot study reported here, we assessed the feasibility of our novel approach of applying the robot equipped with electrical stimulation and vibration to improve motor control and function of the hemiparetic upper extremity in patients who suffered chronic stroke.[…]
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