Archive for category Paretic Hand

[Abstract + References] A Mechatronic Mirror-Image Motion Device for Symmetric Upper-Limb Rehabilitation

Abstract

This paper presents an upper-limb rehabilitation device that provides symmetric bilateral movements with motion measurements using inertial sensors. Mirror therapy is one of widely used methods for rehabilitation of impaired side movements because voluntary movement of the unimpaired side facilitates reorganizational changes in the motor cortex. The developed upper-limb exoskeleton was equipped with two brushless DC motors that helped generate three axes of upper-limb movements corresponding to other arm movements that were measured using inertial sensors. In this study, inertial sensors were used to estimate the joint angles for three target upper-limb movements: elbow flexion and extension (flex/ext), wrist flex/ext, and forearm pronation and supination (pro/sup). Elbow flex/ext was performed by the actuator that was directly attached to the elbow joint. The actuation of the forearm pro/sup and wrist flex/ext shared one motor using a developed cable-driven mechanism, and two types of motion were selectively performed. We assessed the feasibility of the proposed mirror-image device with the accuracy and precision of the motion estimation and the actuation of joint movements. An individual could perform most upper-limb movements for activities of daily living using the proposed device.

References

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Michielsen, M. E., et al. (2011). Motor recovery and cortical reorganization after mirror therapy in chronic stroke patients: A phase II randomized controlled trial. Neurorehabilitation and neural repair,25(3), 223–233.CrossRefGoogle Scholar
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Kim, W., Beom, J., et al. (2018). Reliability and validity of attitude and heading reference system motion estimation in a novel mirror therapy system. Journal of Medical and Biological Engineering,38(3), 370–377.CrossRefGoogle Scholar
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Nam, H. S., Koh, S., et al. (2017). Recovery of proprioception in the upper extremity by robotic mirror therapy: A clinical pilot study for proof of concept. Journal of Korean Medical Science,32(10), 1568–1575.CrossRefGoogle Scholar
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Samuelkamaleshkumar, S., Reethajanetsureka, S., et al. (2014). Mirror therapy enhances motor performance in the paretic upper limb after stroke: A pilot randomized controlled trial. Archives of Physical Medicine and Rehabilitation,95(11), 2000–2005.CrossRefGoogle Scholar
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Babaiasl, M., Mahdioun, S. H., et al. (2016). A review of technological and clinical aspects of robot-aided rehabilitation of upper-extremity after stroke. Disability and Rehabilitation: Assistive Technology,11(4), 263–280.Google Scholar
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Moon, S. B., et al. (2017). Gait analysis of hemiplegic patients in ambulatory rehabilitation training using a wearable lower-limb robot: A pilot study. International Journal of Precision Engineering and Manufacturing,18(12), 1773–1781.CrossRefGoogle Scholar
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Dobkin, B. H. (2004). Strategies for stroke rehabilitation. The Lancet Neurology,3(9), 528–536.CrossRefGoogle Scholar
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Gillen, G. (2015). Stroke rehabilitation: A function-based approach. Amsterdam: Elsevier.Google Scholar
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Lessard, S., Pansodtee, P., et al. (2018). A soft exosuit for flexible upper-extremity rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering,26(8), 1604–1617.CrossRefGoogle Scholar
13.
Colombo, R., & Sanguineti, V. (2018). Assistive controllers and modalities for robot-aided neurorehabilitation. In Rehabilitation robotics (pp. 63–74). Academic Press.Google Scholar
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Ercolini, G., Trigili, E., et al. (2019). A novel generation of ergonomic upper-limb wearable robots: Design challenges and solutions. Robotica,37(12), 2056–2072.CrossRefGoogle Scholar
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Heo, P., Gu, G., et al. (2012). Current hand exoskeleton technologies for rehabilitation and assistive engineering. Int. J. Precis. Eng. Manuf.,13(5), 807–824.CrossRefGoogle Scholar
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Liao, W. W., et al. (2012). Effects of robot-assisted upper limb rehabilitation on daily function and real-world arm activity in patients with chronic stroke: A randomized controlled trial. Clinical Rehabilitation,26(2), 111–120.MathSciNetCrossRefGoogle Scholar
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[Abstract] Comparison of Task Oriented Approach and Mirror Therapy for Poststroke Hand Function Rehabilitation

Abstract

Objective: The purpose of this study was to compare the effectiveness of task-oriented therapy and mirror therapy on improving hand function in post-stroke patients.
Methods: Total subjects 30 were randomly divided into two groups: the task-oriented group (15 patients) and the mirror therapy group (15 patients). The task-oriented group underwent task-oriented training for 45 mins a day for 5 days a week for 4 weeks. The mirror therapy group underwent a mirror therapy program under the same schedule as
task-oriented therapy. The manual dexterity and motor functioning of the hand were evaluated before the intervention and 4 weeks after the intervention by using FMA (Fugl-Meyer assessment) and BBT (Box & Block test).
Results: Hand function of all patients increased significantly after the 4-week intervention program on the evaluation of motor function and manual dexterity by FMA and BBT in both the groups of Task-Oriented approach and Mirror therapy, but Group A Task-oriented approach improved more significantly when compared to Group B Mirror therapy.
Conclusion: The treatment effect was more in patients who received a Task-Oriented approach compared to Mirror therapy. These findings suggest that the Task-Oriented approach was more effective in post stoke hand function rehabilitation.

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[Abstract] Improving Healthcare Access: a Preliminary Design of a Low Cost Arm Rehabilitation Device

Abstract

A low cost continuous passive motion (CPM) machine, the Gannon Exoskeleton for Arm Rehabilitation (GEAR), was designed. The focus of the machine is on the rehabilitation of primary functional movements of the arm. The device developed integrates two mechanisms consisting of a four-bar linkage and a sliding rod prismatic joint mechanism that can be mounted to a normal chair. When seated, the patient is connected to the device via a padded cuff strapped on the elbow. A set of springs have been used to maintain the system stability and help the lifting of the arm. A preliminary analysis via analytical methods is used to determine the initial value of the springs to be used in the mechanism given the desired gravity compensatory force. Subsequently, a multi-body simulation was performed with the software SimWise 4D by Design Simulation Technologies (DST). The simulation was used to optimize the stiffness of the springs in the mechanism to provide assistance to raising of the patient’s arm. Furthermore, the software can provide a finite element analysis of the stress induced by the springs on the mechanism and the external load of the arm. Finally, a physical prototype of the mechanism was fabricated using PVC pipes and commercial metal springs, and the reaching space was measured using motion capture. We believed that the GEAR has the potential to provide effective passive movement to individuals with no access to post-operative or post-stroke rehabilitation therapy.

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[Abstract + References] A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Summary

The robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

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[Abstract] Development of an active and passive finger rehabilitation robot using pneumatic muscle and magnetorheological damper

Highlights

An FRR is developed for active and passive training using two PMs and an MR damper.

An underactuated mechanism is proposed for independent training of all finger joints.

Modelling of kinematics, statics and dynamics of the FRR is presented.

The motion and force properties of the FRR are experimentally evaluated.

Abstract

This paper presents the development of a finger rehabilitation robot (FRR) for active and passive training to fulfill the requirements of different rehabilitation stages. In the design, an antagonistic pair of pneumatic muscles (PMs) are utilized to exert a bidirectional force for passive training, and a controllable magnetorheological (MR) damper is used to provide a damping force for active training. In this paper, first, a detailed illustration of the mechanical design of the FRR, including the driving, transmission and actuating mechanisms, and the damping device, is presented. Subsequently, the kinematic analysis and simulation are described, followed by the static and dynamic analysis of the designed FRR. This paper details the static force transfer of the transmission mechanism, and the establishment of dynamic equations for the passive training system. Finally, an experimental set-up is established, and several passive and active training experiments are conducted for the performance evaluation of the FRR prototype. The results validate the feasibility and stability of the developed FRR.

 

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[Abstract] Upper Limb Movement Modelling for Adaptive and Personalised Physical Rehabilitation in Virtual Reality – Thesis

Abstract

Stroke is one of the leading causes of disability with over three-quarters of patients experiencing an upper limb impairment varying in severity. Early, intense, and frequent physical rehabilitation is important for quicker recovery of the upper limbs and the prevention of further deterioration of their upper limb impairment. Rehabilitation begins almost immediately at the hospital. Once released from the hospital it is intended that patients continue their rehabilitation program at home supported by a community stroke team. However, there are two main barriers to rehabilitation continuing effectively at this stage. The first is limited contact with a physiotherapist or occupational therapist to guide and support an intensive rehabilitation programme. The second is that conventional rehabilitation is tough to maintain immediately after stroke due to fatigue, lack of concentration, depression and other effects. Stroke patients can find exercises monotonous and tiring, and a lack of motivation can result in patients failing to engage fully with their treatment. Lack of participation in prescribed rehabilitation exercises may affect recovery or cause deterioration of mobility.

This thesis examines the hypothesis that upper limb stroke rehabilitation can be made more accessible and enjoyable through the use of modern commercial virtual reality (VR) hardware, with personalised models of user hand motion adapted to user capability over time, and VR games with tasks that utilise natural hand gestures as input controls to execute personalised physical rehabilitation exercises. To support the investigation of this hypothesis a novel adaptive, gamebased, virtual reality (VR) rehabilitation system has been designed and developed for self-managed rehabilitation. Hands are tracked using a Leap Motion Controller, with hand movements and gestures used as in input controller for VR tasks. A user-centred design methodology was adopted, and the final version of the system was evolved through several versions and iterative testing and feedback through trials with able-bodied testers, stroke survivor volunteers, and practising clinicians.

A key finding of the research was that an adapted form of Fitts’s law, that models difficulty of reaching and touching objects in 3D interaction spaces, could be used to profile movement capability for able-bodied people and stroke patients vii in upper arm VR stroke rehabilitation. It was also found that even when Fitts’s law was less effective, that the statistics of the regression quality were still informative in profiling users. Fitts law regression statistics along with information on task performance (such as percentage of hits) could be used to adapt task difficulty or advising rest. Further, it was found that multiple regression could provide better movement capability profiles with a modified form of Fitts law to account for varying degrees of difficulty due to the angles of motion in 3D space. In addition, a novel approach was developed which profiled sectors of the 3D VR interaction space separately, rather than treat movement through the whole space as being equally difficult. This approach accounts for some stroke patients having more difficulty moving in some directions than others, e.g. up and left. Results demonstrate that this has potential but may need to be investigated further with stroke patients and with larger numbers of people.

The VR system that utilised the movement capability model was evolved over time with a user-centred design methodology, with input from able-bodied people, stroke patients, and clinicians. A final longitudinal study investigated the suitability of three bespoke games, the usability of the system over a longer time, and the effectiveness of the movement profiler and adaptive system. Throughout this experiment, the system provided informative user movement profile variations that could identify unique movement behaviour traits in individuals. Results showed that user performance varied over time and the adaptive system proved effective in changing the difficulty of the tasks for individuals over multiple sessions. The VR rehabilitation games incorporated enhanced gameplay and feedback, and users expressed enjoyment with the interactive experience. Throughout all of the experiments, users enjoyed wearing a VR headset, preferring it over a standard PC monitor. Most users subjectively felt that they were more effective in completing tasks within VR, and results from experiments provided empirical evidence to support this view. Results within this thesis support the proposal that an appropriately designed, adaptive gamebased VR system can provide an accessible, personalised and enjoyable rehabilitation system that can motivate more regular rehabilitation participation and promote improved motor function.

via Upper Limb Movement Modelling for Adaptive and Personalised Physical Rehabilitation in Virtual Reality — Ulster University

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[ARTICLE] Relationship Between Motor Capacity of the Contralesional and Ipsilesional Hand Depends on the Side of Stroke in Chronic Stroke Survivors With Mild-to-Moderate Impairment – Full Text

There is growing evidence that after a stroke, sensorimotor deficits in the ipsilesional hand are related to the degree of impairment in the contralesional upper extremity. Here, we asked if the relationship between the motor capacities of the two hands differs based on the side of stroke. Forty-two pre-morbidly right-handed chronic stroke survivors (left hemisphere damage, LHD = 21) with mild-to-moderate paresis performed distal items of the Wolf Motor Function Test (dWMFT). We found that compared to RHD, the relationship between contralesional arm impairment (Upper Extremity Fugl-Meyer, UEFM) and ipsilesional hand motor capacity was stronger (R2LHD=RLHD2= 0.42; R2RHDRRHD2 < 0.01; z = 2.12; p = 0.03) and the slope was steeper (t = −2.03; p = 0.04) in LHD. Similarly, the relationship between contralesional dWMFT and ipsilesional hand motor capacity was stronger (R2LHD=RLHD2= 0.65; R2RHDRRHD2 = 0.09; z = 2.45; p = 0.01) and the slope was steeper (t = 2.03; p = 0.04) in LHD compared to RHD. Multiple regression analysis confirmed the presence of an interaction between contralesional UEFM and side of stroke (β3 = 0.66 ± 0.30; p = 0.024) and between contralesional dWMFT and side of stroke (β3 = −0.51 ± 0.34; p = 0.05). Our findings suggest that the relationship between contra- and ipsi-lesional motor capacity depends on the side of stroke in chronic stroke survivors with mild-to-moderate impairment. When contralesional impairment is more severe, the ipsilesional hand is proportionally slower in those with LHD compared to those with RHD.

Introduction

It is now well-known that unilateral stroke not only results in weakness of the opposite half of the body, i.e., contralateral to the lesion or contralesional limb, but also significant motor deficits in the same half of the body, i.e., ipsilateral to the lesion or ipsilesional limb (14). Previous work suggests that deficits in the ipsilesional arm and hand varies with the severity of contralesional deficits, especially in the sub-acute and chronic phase after stroke (58). More interestingly, the unilateral motor deficits observed for contralesional and ipsilesional limbs seem to be hemisphere-specific and thus depend on side of stroke lesion (915). For predominantly right-handed cohorts, contralesional deficits appear to be more severe in those with right hemisphere damage (RHD), in whom the contralesional limb is non-dominant. For example, using clinical motor assessments of grip strength and hand dexterity, Harris and Eng (11) showed that contralesional motor impairments were less severe in chronic stroke survivors who suffered damage in the dominant (i.e., left) hemisphere (LHD) compared to those who suffered damage in the non-dominant (right) hemisphere (1115).

In contrast, considering ipsilesional motor deficits, the evidence is mixed concerning hemisphere-specific effects. For instance, some studies reported that individuals with LHD exhibited more severe ipsilesional arm and hand deficits compared to those with RHD (41517) while others have reported no difference in ipsilesional hand motor capacity between LHD and RHD (2). In acute stroke survivors, Nowak et al. demonstrated that deficits in grip force of the ipsilesional hand were significantly associated with clinical measures of function of the contralesional hand only in LHD (12). Contrary to this, de Paiva Silva et al. (14) found that compared to controls and LHD, the ipsilesional hand in chronic stroke survivors was significantly slower and less smooth in RHD especially when contralesional impairment was relatively more severe (UEFM < 34).

Taken together, there is converging evidence regarding the relationship between motor deficits of the contralesional and ipsilesional upper extremity, such that ipsilesional deficits are worse when contralesional impairment is greater (Figure 1A); however, it is uncertain whether the relationship between the two limbs depends on which hemisphere is damaged. In particular, motor deficits of the two limbs are most prominent for tasks that require dexterous motor control (e.g., grip force, tapping, tracking). For predominantly right-handed cohorts (as is the case in most studies), contralesional deficits appear to be more severe in those with RHD, in whom the contralesional limb is non-dominant; whereas ipsilesional deficits are more severe in those with LHD. An exception to this observation for those with RHD seems to be in the case when contralesional impairment is most severe (i.e., UEFM < 34) (14). Thus, one might predict that as contralesional impairment worsens, individuals with LHD would have proportionally worse ipsilesional deficits, but individuals with RHD (especially if say UEFM > 34) would not; see Figures 1B,C for two alternative hypotheses. To our knowledge, this prediction has not before been explicitly tested.

Figure 1. Hypothesized effects represented in schematic figure. (A) The null hypothesis, wherein the relationship between contralesional (CL) impairment and ipsilesional (IL) motor capacity is not modified by the side of stroke lesion, i.e., β1 ≠ 0 but β3 = 0. (B) Alternative hypothesis 1, wherein ipsilesional deficits are related to contralesional impairment but only in LHD (blue) and not in RHD (red). (C) Alternate hypothesis 2, wherein ipsilesional deficits are related to contralesional impairment but only in LHD and in RHD with severe impairment (represented in the shaded dark-gray area). For both alternate hypotheses, β1 and β3 ≠ 0.

[…]

via Frontiers | Relationship Between Motor Capacity of the Contralesional and Ipsilesional Hand Depends on the Side of Stroke in Chronic Stroke Survivors With Mild-to-Moderate Impairment | Neurology

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[Abstract] Pushing the limits of recovery in chronic stroke survivors: User perceptions of the Queen Square Upper Limb Neurorehabilitation Programme – Full Text PDF

Abstract

Introduction: The Queen Square Upper Limb (QSUL) Neurorehabilitation Programme is a clinical service within the National Health Service in the United Kingdom that provides 90 hours of therapy over three weeks to stroke survivors with persistent upper limb impairment. This study aimed to explore the perceptions of participants of this programme, including clinicians, stroke survivors and carers.

Design: Descriptive qualitative.

Setting: Clinical outpatient neurorehabilitation service.

Participants: Clinicians (physiotherapists, occupational therapists, rehabilitation assistants) involved in the delivery of the QSUL Programme, as well as stroke survivors and carers who had participated in the programme were purposively sampled. Each focus group followed a series of semi-structured, open questions that were tailored to the clinical or stroke group. One independent researcher facilitated all focus groups, which were audio-recorded, transcribed verbatim and analysed by four researchers using a thematic approach to identify main themes.

Results: Four focus groups were completed: three including stroke survivors (n = 16) and carers (n = 2), and one including clinicians (n = 11). The main stroke survivor themes related to psychosocial aspects of the programme (″ you feel valued as an individual ″), as well as the behavioural training provided (″ gruelling, yet rewarding& [Prime]). The main clinician themes also included psychosocial aspects of the programme (″ patient driven ethos − no barriers, no rules ″), and knowledge, skills and resources of clinicians (″ it is more than intensity, it is complex ″).

Conclusions: As an intervention, the QSUL Programme is both comprehensive and complex. The impact of participation in the programme spans psychosocial and behavioural domains from the perspectives of both the stroke survivor and clinician.

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via Pushing the limits of recovery in chronic stroke survivors: User perceptions of the Queen Square Upper Limb Neurorehabilitation Programme. | medRxiv

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[Abstract + References] Game Design Principles Influencing Stroke Survivor Engagement for VR-Based Upper Limb Rehabilitation: A User Experience Case Study – Proceedings

ABSTRACT

Engagement with one’s rehabilitation is crucial for stroke survivors. Serious games utilising desktop Virtual Reality could be used in rehabilitation to increase stroke survivors’ engagement. This paper discusses the results of a user experience case study that was conducted with six stroke survivors to determine which game design principles are or would be important for engaging them with a desktop VR serious games designed for the upper limb rehabilitation. The results of our study showed the game design principles that warrant further investigation are awareness, feedback, interactivity, flow and challenge; and also important to a great extent are attention, involvement, motivation, effort, clear instructions, usability, interest, psychological absorption, purpose and a first-person view.

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via Game Design Principles Influencing Stroke Survivor Engagement for VR-Based Upper Limb Rehabilitation | Proceedings of the 31st Australian Conference on Human-Computer-Interaction

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[Abstract] Timing-dependent interaction effects of tDCS with mirror therapy on upper extremity motor recovery in patients with chronic stroke: A randomized controlled pilot study

Highlights

  • The priming effect of dual tDCS was important to facilitate motor recovery in combination with mirror therapy in stroke.

Abstract

This study was a randomized, controlled pilot trial to investigate the timing-dependent interaction effects of dual transcranial direct current stimulation (tDCS) in mirror therapy (MT) for hemiplegic upper extremity in patients with chronic stroke. Thirty patients with chronic stroke were randomly assigned to three groups: tDCS applied before MT (prior-tDCS group), tDCS applied during MT (concurrent-tDCS group), and sham tDCS applied randomly prior to or concurrent with MT (sham-tDCS group). Dual tDCS at 1 mA was applied bilaterally over the ipsilesional M1 (anodal electrode) and the contralesional M1 (cathodal electrode) for 30 min. The intervention was delivered five days per week for two weeks. Upper extremity motor performance was measured using the Fugl-Meyer Assessment-Upper Extremity (FMA-UE), the Action Research Arm Test (ARAT), and the Box and Block Test (BBT). Assessments were administered at baseline, post-intervention, and two weeks follow-up. The results indicated that concurrent-tDCS group showed significant improvements in the ARAT in relation to the prior-tDCS group and sham-tDCS group at post-intervention. Besides, a trend toward greater improvement was also found in the FMA-UE for the concurrent-tDCS group. However, no statistically significant difference in the FMA-UE and BBT was identified among the three groups at either post-intervention or follow-up. The concurrent-tDCS seems to be more advantageous and time-efficient in the context of clinical trials combining with MT. The timing-dependent interaction factor of tDCS to facilitate motor recovery should be considered in future clinical application.

via Timing-dependent interaction effects of tDCS with mirror therapy on upper extremity motor recovery in patients with chronic stroke: A randomized controlled pilot study – Journal of the Neurological Sciences

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