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Posts Tagged robotic rehabilitation
[Abstract] Robot-assisted therapy for arm recovery for stroke patients: state of the art and clinical implication
Introduction: Robot-assisted therapy is an emerging approach that performs highly repetitive, intensive, task oriented and quantifiable neuro-rehabilitation. In the last decades, it has been increasingly used in a wide range of neurological central nervous system conditions implying an upper limb paresis. Results from the studies are controversial, for the many types of robots and their features often not accompanied by specific clinical indications about the target functions, fundamental for the individualized neurorehabilitation program.
Areas covered: This article reviews the state of the art and perspectives of robotics in post-stroke rehabilitation for upper limb recovery. Classifications and features of robots have been reported in accordance with technological and clinical contents, together with the definition of determinants specific for each patient, that could modify the efficacy of robotic treatments. The possibility of combining robotic intervention with other therapies has also been discussed.
Expert commentary: The recent wide diffusion of robots in neurorehabilitation has generated a confusion due to the commingling of technical and clinical aspects not previously clarified. Our critical review provides a possible hypothesis about how to match a robot with subject’s upper limb functional abilities, but also highlights the need of organizing a clinical consensus conference about the robotic therapy.
Robotic neurorehabilitation has the potential to improve the quality and intensity of rehabilitation treatments in order to promote motor-cognitive recovery following a central nervous system disease.
Controversial results in literature maybe generated by confusion in the use of robots related to many technological and clinical features, and emphasized by excessive optimism or scepticism about this technology.
Budgets spent for robots in rehabilitation are expected to grow dramatically in the next future, but there is the need of evidence-based proofs to balance the business push.
There is need of further researches in motor-cognitive technological rehabilitation in order to better understand the gain that robotic therapy could add to conventional therapy in relation to the patient’s cognitive reserve.
There is a need for clinical consensus conferences that might give clinical indication to end users.
via Robot-assisted therapy for arm recovery for stroke patients: state of the art and clinical implication: Expert Review of Medical Devices: Vol 0, No 0
[ARTICLE] Increased gait variability during robot-assisted walking is accompanied by increased sensorimotor brain activity in healthy people – Full Text
Gait disorders are major symptoms of neurological diseases affecting the quality of life. Interventions that restore walking and allow patients to maintain safe and independent mobility are essential. Robot-assisted gait training (RAGT) proved to be a promising treatment for restoring and improving the ability to walk. Due to heterogenuous study designs and fragmentary knowlegde about the neural correlates associated with RAGT and the relation to motor recovery, guidelines for an individually optimized therapy can hardly be derived. To optimize robotic rehabilitation, it is crucial to understand how robotic assistance affect locomotor control and its underlying brain activity. Thus, this study aimed to investigate the effects of robotic assistance (RA) during treadmill walking (TW) on cortical activity and the relationship between RA-related changes of cortical activity and biomechanical gait characteristics.
Twelve healthy, right-handed volunteers (9 females; M = 25 ± 4 years) performed unassisted walking (UAW) and robot-assisted walking (RAW) trials on a treadmill, at 2.8 km/h, in a randomized, within-subject design. Ground reaction forces (GRFs) provided information regarding the individual gait patterns, while brain activity was examined by measuring cerebral hemodynamic changes in brain regions associated with the cortical locomotor network, including the sensorimotor cortex (SMC), premotor cortex (PMC) and supplementary motor area (SMA), using functional near-infrared spectroscopy (fNIRS).
A statistically significant increase in brain activity was observed in the SMC compared with the PMC and SMA (p < 0.05), and a classical double bump in the vertical GRF was observed during both UAW and RAW throughout the stance phase. However, intraindividual gait variability increased significantly with RA and was correlated with increased brain activity in the SMC (p = 0.05; r = 0.57).
On the one hand, robotic guidance could generate sensory feedback that promotes active participation, leading to increased gait variability and somatosensory brain activity. On the other hand, changes in brain activity and biomechanical gait characteristics may also be due to the sensory feedback of the robot, which disrupts the cortical network of automated walking in healthy individuals. More comprehensive neurophysiological studies both in laboratory and in clinical settings are necessary to investigate the entire brain network associated with RAW.
Safe and independent locomotion represents a fundamental motor function for humans that is essential for self-contained living and good quality of life [1,2,3,4,5]. Locomotion requires the ability to coordinate a number of different muscles acting on different joints [6,7,8], which are guided by cortical and subcortical brain structures within the locomotor network . Structural and functional changes within the locomotor network are often accompanied by gait and balance impairments which are frequently considered to be the most significant concerns in individuals suffering from brain injuries or neurological diseases [5, 10, 11]. Reduced walking speeds and step lengths  as well as non-optimal amount of gait variability [13,14,15] are common symptoms associated with gait impairments that increase the risk of falling .
In addition to manual-assisted therapy, robotic neurorehabilitation has often been applied in recent years [17, 18] because it provides early, intensive, task-specific and multi-sensory training which is thought to be effective for balance and gait recovery [17, 19, 20]. Depending on the severity of the disease, movements can be completely guided or assisted, tailored to individual needs , using either stationary robotic systems or wearable powered exoskeletons.
Previous studies investigated the effectiveness of robot-assisted gait training (RAGT) in patients suffering from stroke [21, 22], multiple sclerosis [23,24,25,26], Parkinson’s disease [27, 28], traumatic brain injury  or spinal cord injury [30,31,32]. Positive effects of RAGT on walking speed [33, 34], leg muscle force  step length, and gait symmetry [29, 35] were reported. However, the results of different studies are difficult to summarize due to the lack of consistency in protocols and settings of robotic-assisted treatments (e.g., amount and frequency of training sessions, amount and type of provided robotic support) as well as fragmentary knowledge of the effects on functional brain reorganization, motor recovery and their relation [36, 37]. Therefore, it is currently a huge challenge to draw guidelines for robotic rehabilitation protocols [22, 36,37,38]. To design prologned personalized training protocols in robotic rehabilitation to maximize individual treatment effects , it is crucial to increase the understanding of changes in locomotor patterns  and brain signals  underlying RAGT and how they are related [36, 41].
A series of studies investigated the effects of robotic assistance (RA) on biomechanical gait patterns in healthy people [39, 42,43,44]. On one side, altered gait patterns were reported during robot-assisted walking (RAW) compared to unassisted walking (UAW), in particular, substantially higher muscle activity in the quadriceps, gluteus and adductor longus leg muscles and lower muscle activity in the gastrocnemius and tibialis anterior ankle muscles [39, 42] as well as reduced lower-body joint angles due to the little medial-lateral hip movements [45,46,47]. On the other side, similar muscle activation patterns were observed during RAW compared to UAW [44, 48, 49], indicating that robotic devices allow physiological muscle activation patterns during gait . However, it is hypothesized that the ability to execute a physiological gait pattern depends on how the training parameters such as body weight support (BWS), guidance force (GF) or kinematic restrictions in the robotic devices are set [44, 48, 50]. For example, Aurich-Schuler et al.  reported that the movements of the trunk and pelvis are more similar to UAW on a treadmill when the pelvis is not fixed during RAW, indicating that differences in musle activity and kinematic gait characteristics between RAW and UAW are due to the reduction in degrees of freedom that user’s experience while walking in the robotic device . In line with this, a clinical concern that is often raised with respect to RAW is the lack of gait variability [45, 48, 50]. It is assumed that since the robotic systems are often operated with 100% GF, which means that the devices attempt to force a particular gait pattern regardless of the user’s intentions, the user lacks the ability to vary and adapt his gait patterns . Contrary to this, Hidler et al.  observed differences in kinematic gait patterns between subsequent steps during RAW, as demonstrated by variability in relative knee and hip movements. Nevertheless, Gizzi et al.  showed that the muscular activity during RAW was clearly more stereotyped and similar among individuals compared to UAW. They concluded that RAW provides a therapeutic approach to restore and improve walking that is more repeatable and standardized than approaches based on exercising during UAW .
In addition to biomechanical gait changes, insights into brain activity and intervention-related changes in brain activity that relate to gait responses, will contribute to the optimization of therapy interventions [41, 51]. Whereas the application of functional magnetic resonance imaging (fMRI), considered as gold standard for the assessment of activity in cortical and subcortical structures, is restricted due to the vulnerability for movement artifacts and the range of motion in the scanner , functional near infrared spectroscopy (fNIRS) is affordable and easily implementable in a portable system, less susceptible to motion artifacts, thus facilitation a wider range of application with special cohorts (e.g., children, patients) and in everyday environments (e.g., during a therapeutic session of RAW or UAW) [53, 54]. Although with lower resolution compared to fMRI , fNIRS also relies on the principle of neurovascular coupling and allows the indirect evaluation of cortical activation [56, 57] based on hemodynamic changes which are analogous to the blood-oxygenation-level-dependent responses measured by fMRI . Despite limited depth sensitivity, which restricts the measurement of brain activity to cortical layers, it is a promising tool to investigate the contribution of cortical areas to the neuromotor control of gross motor skills, such as walking . Regarding the cortical correlates of walking, numerous studies identified either increaesed oxygenated hemoglobin (Hboxy) concentration changes in the sensorimotor cortex (SMC) by using fNIRS [53, 57,58,59] or suppressed alpha and beta power in sensorimotor areas by using electroencephalography (EEG) [60,61,62] demonstrating that motor cortex and corticospinal tract contribute directly to the muscle activity of locomotion . However, brain activity during RAW [36, 61, 64,65,66,67,68], especially in patients [69, 70] or by using fNIRS [68, 69], is rarely studied .
Analyzing the effects of RA on brain activity in healthy volunteers, Knaepen et al.  reported significantly suppressed alpha and beta rhythms in the right sensory cortex during UAW compared to RAW with 100% GF and 0% BWS. Thus, significantly larger involvement of the SMC during UAW compared to RAW were concluded . In contrast, increases of Hboxy were observed in motor areas during RAW compared UAW, leading to the conclusion that RA facilitated increased cortical activation within locomotor control systems . Furthermore, Simis et al.  demonstrated the feasibility of fNIRS to evaluate the real-time activation of the primary motor cortex (M1) in both hemispheres during RAW in patients suffering from spinal cord injury. Two out of three patients exhibited enhanced M1 activation during RAW compared with standing which indicate the enhanced involvement of motor cortical areas in walking with RA .
To summarize, previous studies mostly focused the effects of RA on either gait characteristics or brain activity. Combined measurements investigating the effects of RA on both biomechanical and hemodynamic patterns might help for a better understanding of the neurophysiological mechanisms underlying gait and gait disorders as well as the effectiveness of robotic rehabilitation on motor recovery [37, 71]. Up to now, no consensus exists regarding how robotic devices should be designed, controlled or adjusted (i.e., device settings, such as the level of support) for synergistic interactions with the human body to achieve optimal neurorehabilitation [37, 72]. Therefore, further research concerning behavioral and neurophysiological mechanisms underlying RAW as well as the modulatory effect of RAGT on neuroplasticy and gait recovery are required giving the fact that such knowledge is of clinical relevance for the development of gait rehabilitation strategies.
Consequently, the central purpose of this study was to investigate both gait characteristics and hemodynamic activity during RAW to identify RAW-related changes in brain activity and their relationship to gait responses. Assuming that sensorimotor areas play a pivotal role within the cortical network of automatic gait [9, 53] and that RA affects gait and brain patterns in young, healthy volunteers [39, 42, 45, 68], we hypothesized that RA result in both altered gait and brain activity patterns. Based on previous studies, more stereotypical gait characteristics with less inter- and intraindividual variability are expected during RAW due to 100% GF and the fixed pelvis compared to UAW [45, 48], wheares brain activity in SMC can be either decreased  or increased .
This study was performed in accordance with the Declaration of Helsinki. Experimental procedures were performed in accordance with the recommendations of the Deutsche Gesellschaft für Psychologie and were approved by the ethical committee of the Medical Association Hessen in Frankfurt (Germany). The participants were informed about all relevant study-related contents and gave their written consent prior to the initiation of the experiment.
Twelve healthy subjects (9 female, 3 male; aged 25 ± 4 years), without any gait pathologies and free of extremity injuries, were recruited to participate in this study. All participants were right-handed, according to the Edinburg handedness-scale , without any neurological or psychological disorders and with normal or corrected-to-normal vision. All participants were requested to disclose pre-existing neurological and psychological conditions, medical conditions, drug intake, and alcohol or caffeine intake during the preceding week.
The Lokomat (Hocoma AG, Volketswil, Switzerland) is a robotic gait-orthosis, consisting of a motorized treadmill and a BWS system. Two robotic actuators can guide the knee and hip joints of participants to match pre-programmed gait patterns, which were derived from average joint trajectories of healthy walkers, using a GF ranging from 0 to 100% [74, 75] (Fig. 1a). Kinematic trajectories can be adjusted to each individual’s size and step preferences . The BWS was adjusted to 30% body weight for each participant, and the control mode was set to provide 100% guidance .
Continue —-> Increased gait variability during robot-assisted walking is accompanied by increased sensorimotor brain activity in healthy people | Journal of NeuroEngineering and Rehabilitation | Full Text
Intelligent Biomechatronics in Neurorehabilitation presents global research and advancements in intelligent biomechatronics and its applications in neurorehabilitation. The book covers our current understanding of coding mechanisms in the nervous system, from the cellular level, to the system level in the design of biological and robotic interfaces. Developed biomechatronic systems are introduced as successful examples to illustrate the fundamental engineering principles in the design. The third part of the book covers the clinical performance of biomechatronic systems in trial studies. Finally, the book introduces achievements in the field and discusses commercialization and clinical challenges.
As the aging population continues to grow, healthcare providers are faced with the challenge of developing long-term rehabilitation for neurological disorders, such as stroke, Alzheimer’s and Parkinson’s diseases. Intelligent biomechatronics provide a seamless interface and real-time interactions with a biological system and the external environment, making them key to automation services.
- Written by international experts in the rehabilitation and bioinstrumentation industries
- Covers the current understanding of nervous system coding mechanisms, which are the basis for biological and robotic interfaces
- Demonstrates and discusses robotic rehabilitation effectiveness and automatic evaluation
[Abstract + References] An Exoskeleton Design Robotic Assisted Rehabilitation: Wrist & Forearm – Conference paper
Robotic systems are being used in physiotherapy for medical purposes. Providing physical training (therapy) is one of the main applications of fields of rehabilitation robotics. Upper-extremity rehabilitation involves shoulder, elbow, wrist and fingers’ actions that stimulate patients’ independence and quality of life. An exoskeleton for human wrist and forearm rehabilitation is designed and manufactured. It has three degrees of freedom which must be fitted to real human wrist and forearm. Anatomical motion range of human limbs is taken into account during design. A six DOF Denso robot is adapted. An exoskeleton driven by a serial robot has not been come across in the literature. It is feasible to apply torques to specific joints of the wrist by this way. Studies are still continuing in the subject.
Who We Are
SCHOOL CONCEPT AND VISION
The wide spectrum of employment in PRM (Physical and Rehabilitation Medicine) of Robotics and New Technologies is a concrete reality, but PRM training Centres offering proper programs are sparse at national and international level and skills needed to appropriately apply robotics are usually achieved “on the field” by rehabilitation professionals without any prior specific education.
The inter-professional cooperation, so strongly needed in research and clinical activities, is very weak in Health facilities and between medical professionals with engineers and other ICT experts.
The actual gap is mostly educational and there is a great need to enhance training and knowledges for PRM physicians (and the same for Physiotherapists, Speech Therapists, Occupational Therapists, Orthotics and Engineers).
What We Do
SCHOOL WEBSITE MISSION
The purpose of the School is to harmonize and increase the level of knowledge concerning the use of robotics in rehabilitation, for PRM physicians (and if possible all rehabilitation professionals) to enhance collaboration, communication and sharing, both on a clinical and research basis.
Students will be able at the end of the Sessions to plan and manage routinely and daily therapies integrating robotics and new technologies; they will have the basis for financial or organizational issues for such therapies and, finally, they will be able to design and realize proper research trials aimed at assessing the efficacy, effectiveness and efficiency of robotic rehabilitation. School Courses are open to European PRM physicians and students.
It is a fundamental tool to maintain and increase all over the year and places the activity:
Before School/On Line
Educational material (slides packages, webinars etc) will be available on-line from 2 months before practical session for all enrolled students.
All educational materials will be available online for all students; a “meet the experts” service will be available also for six months after the end of the School/On-Site.
Visit SITE —> European Rehabilitation Robotics School
Several neuromuscular disorders present muscle fatigue as a typical symptom. Therefore, a reliable method of fatigue assessment may be crucial for understanding how specific disease features evolve over time and for developing effective rehabilitation strategies. Unfortunately, despite its importance, a standardized, reliable and objective method for fatigue measurement is lacking in clinical practice and this work investigates a practical solution.
40 healthy young adults performed a haptic reaching task, while holding a robotic manipulandum. Subjects were required to perform wrist flexion and extension movements in a resistive visco-elastic force field, as many times as possible, until the measured muscles (mainly flexor and extensor carpi radialis) exhibited signs of fatigue. In order to analyze the behavior and the characteristics of the two muscles, subjects were divided into two groups: in the first group, the resistive force was applied by the robot only during flexion movements, whereas, in the second group, the force was applied only during extension movements. Surface electromyographic signals (sEMG) of both flexor and extensor carpi radialis were acquired. A novel indicator to define the Onset of Fatigue (OF) was proposed and evaluated from the Mean Frequency of the sEMG signal. Furthermore, as measure of the subjects’ effort throughout the task, the energy consumption was estimated.
From the beginning to the end of the task, as expected, all the subjects showed a decrement in Mean Frequency of the muscle involved in movements resisting the force. For the OF indicator, subjects were consistent in terms of timing of fatigue; moreover, extensor and flexor muscles presented similar OF times. The metabolic analysis showed a very low level of energy consumption and, from the behavioral point of view, the test was well tolerated by the subjects.
The robot-aided assessment test proposed in this study, proved to be an easy to administer, fast and reliable method for objectively measuring muscular fatigue in a healthy population. This work developed a framework for an evaluation that can be deployed in a clinical practice with patients presenting neuromuscular disorders. Considering the low metabolic demand, the requested effort would likely be well tolerated by clinical populations.
Muscle fatigue has been defined as “the failure to maintain a required or expected force”  and it is a complex phenomenon experienced in everyday life that has reached great interest in the areas of sports, medicine and ergonomics . Muscle fatigue can affect task performance, posture-movement coordination , position sense  and it can be a highly debilitating symptom in several pathologies . For many patients with neuromuscular impairments, taking into account muscle fatigue is of crucial importance in the design of correct rehabilitation protocols  and fatigue assessment can provide crucial information about skeletal muscle function. Specifically, several neuromuscular diseases (e.g. Duchenne, Becker Muscular Dystrophies, and spinal muscular atrophy) present muscle fatigue as a typical symptom , and fatigue itself accounts for a significant portion of the disease burden. A systematic approach to assess muscle fatigue might provide important cues on the disability itself, on its progression and on the efficacy of adopted therapies. In particular, therapeutic strategies are now under deep investigation and a lot of effort has been devoted to accelerate the development of drugs targeting these disorders . Therefore, the need for an objective tool to measure muscle fatigue is impelling and of great relevance.
Currently, in clinical practice muscle fatigue is evaluated by means of qualitative rating scales like the 6-min walk test (6MWT)  or through subjective questionnaires administered to the patient (e.g. the Multidimensional Fatigue Inventory (MFI), the Fatigue Severity Scale (FSS), and the Visual Analog Scale (VAS)) . During the 6MWT patients have to walk, as fast as possible, along a 25 meters linear course and repeat it as often as they can for 6 min: ‘fatigue’ is then defined as the difference between the distance covered in the sixth minute compared to the first. Obviously, such a measure is only applicable to ambulant patients and this is a strong limitation to clinical investigation because a patient may lose ambulatory ability during a clinical trial, resulting in lost ability to perform the primary clinical endpoint . It should also be considered that neuromuscular patients, e.g. subjects with Duchenne Muscular Dystrophy, generally lose ambulation before 15 years of age , excluding a large part of the population from the measurement of fatigue through the 6MWT. Since neuromuscular patients often experience a progressive weakness also in the upper limb, reporting of muscle fatigue in this region is common. A fatigue assessment for upper limb muscles could be used to monitor patients across different stages of the disease. As for the questionnaires, the MFI is a 20 items scale designed to evaluate five dimensions of fatigue (general fatigue, physical fatigue, reduced motivation, reduced activity, and mental fatigue) . Similarly, the FSS questionnaire contains nine statements that rate the severity of fatigue symptoms and the patient has to agree or disagree with them . The VAS is even more general: the patient has to indicate on a 10 cm line ranging from “no fatigue” to “severe fatigue” the point that best describes his/her level of fatigue . Despite the ease to administer, such subjective assessments of fatigue may not correlate with the actual severity or characteristics of fatigue, and may provide just qualitative information with low resolution, reliability and objectivity. Considering various levels of efficacy among the methods currently used in clinical practice, research should focus on the development of an assessment tool for muscle fatigue, that is easy and fast to administer, even to patients with a high level of impairment. Such a tool, should provide clear results, be easy to read and understand by a clinician, be reliable and objectively correlated with the physiology of the phenomenon.
In general, muscle fatigue can manifest from either central and/or peripheral mechanisms. Under controlled conditions, surface electromyography (sEMG) is a non-invasive and widely used technique to evaluate muscle fatigue . Certain characteristics of the sEMG signal can be indicators of muscle fatigue. For example during sub-maximal tasks, muscle fatigue will present with decreases in muscle fiber conduction velocity and frequency and increases in amplitude of the sEMG signal . The trend and rate of change will depend on the intensity of the task: generally, sEMG amplitude has been observed to increase during sub-maximal efforts and decrease during maximal efforts; further it has been reported that there is a significantly greater decline in the frequency content of the signal during maximal efforts compared to sub-maximal . Accordingly, spectral (i.e. mean frequency) and amplitude parameters (i.e. Root Mean Square (RMS)) of the signals, can be used to measure muscle fatigue as extensively discussed in many widely acknowledged studies [16, 18, 19], however, context of contraction type and intensity must be specified for proper interpretation. A significant problem with the majority of existing protocols is that they rely on quantifying maximal voluntary force loss, maximum voluntary muscle contraction (MVC) [18, 20, 21] or high fatiguing dynamic tasks [19, 22] that cannot be reliably performed in clinical practice, especially in the case of pediatric subjects. Actually, previous works pointed out that not only the capacity to maintain MVC can be limited by a lack of cooperation [23, 24], but also, that sustaining a maximal force in isometric conditions longer than 30 s reduces subject’s motivation leading to unreliable results . Besides, neuromuscular patients might have a high level of impairment and low residual muscular function thus making even more difficult, as well as dangerous for their muscles, sustaining high levels of effort or the execution of a true MVC. In order to overcome this issue, maximal muscle contractions can be elicited by magnetic  or electrical stimulation . Although such procedures allow to bypass the problem mentioned above, these involve involuntary muscle activation and not physiological recruitment of motor units ; moreover, they can be uncomfortable for patients and can require advanced training, which makes them difficult to be included in clinical fatigue assessment protocols. As for the above mentioned problem with children motivation, work by Naughton et al.  showed that the test-retest coefficient of variation of fatigue index during a Wing-Gate test, significantly decreased when using a computerized feedback game linked to pedal cadence, suggesting that game-based procedures may ensure more consistent results in children assessment.
In recent years, the assessment of sensorimotor function has been deepened thanks to the introduction of innovative protocols administered through robotic devices [28, 29, 30, 31]. These methods have the ambition to add meaningful information to the existing clinical scales and can be exploited as a basis for the implementation of a muscle fatigue assessment protocol. In order to fill the gap between the need of a quantitative clinical measurement protocol of muscle fatigue and the lack of an objective method which does not demand a high level of muscle activity, we propose a new method based on a robotic test, which is fast and easy to administer. Further, we decided to address the analysis of muscle fatigue on the upper limb as to provide a test suitable to assess patients from the beginning to the late stages of the disease, regardless of walking ability. Moreover, we focused on an isolated wrist flexion/extension tasks to assess wrist muscle fatigue. This ensured repeatability of the tests and prevented the adoption of compensatory movements or poor postures that may occur in multi-segmental tasks, involving the shoulder-elbow complex. In the present work, we tested the method on healthy subjects with the specific goal to evaluate when during the test the first meaningful symptoms of fatigue appaered and not how much subjects are fatigued at the end of the test. The most relevant and novel features of the proposed test include the ability to perform the test regardless of the subjects’ capability and strength, the objectivity and repeatability of the data it provides, and the simplicity and minimal time required to administer.[…]
[ARTICLE] Feasibility of the UR5 Industrial Robot for Robotic Rehabilitation of the Upper Limbs After Stroke – Full Text PDF
Robot-assisted therapy is an emerging form of
rehabilitation treatment for motor recovery of the upper limbs
after neurological injuries such as stroke or spinal cord injury.
Robotic rehabilitation devices have the potential to reduce the
physical strain put on therapists due to the high-effort oneto-one
interactions between the therapist and patient involving
repetitive high-intensity movements to restore arm and
hand functions. Numerous custom robotic devices have been
developed in recent years to aid in physical rehabilitation
of stroke patients, but most commercially available systems
are high-cost devices because of low production volumes and
high development costs. In this paper, we analyse the safety
and functionality of the UR5 collaborative industrial robot
from Universal Robots equipped with an external force/torque
sensor in a real-time control system for typical rehabilitation
exercises. The aim of the paper is to show that a new class
of general-purpose industrial robots designed for human-robot
collaboration may prove a viable alternative to custom designs.
Experiments show that robotic rehabilitation of the upper
limbs using a standard industrial robot manipulator UR5
may be feasible. Results have the potential to reduce costs
and complexity for robotic rehabilitation devices, and thus
make robotic rehabilitation more affordable as a high-quality
therapeutic treatment for more patients.
[Thesis] Robotic rehabilitation of upper-limb after stroke – Implementation of rehabilitation control strategy on robotic manipulator – Full Text PDF
[ARTICLE] Is two better than one? Muscle vibration plus robotic rehabilitation to improve upper limb spasticity and function: A pilot randomized controlled trial – Full Text
Even though robotic rehabilitation is very useful to improve motor function, there is no conclusive evidence on its role in reducing post-stroke spasticity. Focal muscle vibration (MV) is instead very useful to reduce segmental spasticity, with a consequent positive effect on motor function. Therefore, it could be possible to strengthen the effects of robotic rehabilitation by coupling MV. To this end, we designed a pilot randomized controlled trial (Clinical Trial NCT03110718) that included twenty patients suffering from unilateral post-stroke upper limb spasticity. Patients underwent 40 daily sessions of Armeo-Power training (1 hour/session, 5 sessions/week, for 8 weeks) with or without spastic antagonist MV. They were randomized into two groups of 10 individuals, which received (group-A) or not (group-B) MV. The intensity of MV, represented by the peak acceleration (a-peak), was calculated by the formula (2πf)2A, where f is the frequency of MV and A is the amplitude. Modified Ashworth Scale (MAS), short intracortical inhibition (SICI), and Hmax/Mmax ratio (HMR) were the primary outcomes measured before and after (immediately and 4 weeks later) the end of the treatment. In all patients of group-A, we observed a greater reduction of MAS (p = 0.007, d = 0.6) and HMR (p<0.001, d = 0.7), and a more evident increase of SICI (p<0.001, d = 0.7) up to 4 weeks after the end of the treatment, as compared to group-B. Likewise, group-A showed a greater function outcome of upper limb (Functional Independence Measure p = 0.1, d = 0.7; Fugl-Meyer Assessment of the Upper Extremity p = 0.007, d = 0.4) up to 4 weeks after the end of the treatment. A significant correlation was found between the degree of MAS reduction and SICI increase in the agonist spastic muscles (p = 0.004). Our data show that this combined rehabilitative approach could be a promising option in improving upper limb spasticity and motor function. We could hypothesize that the greater rehabilitative outcome improvement may depend on a reshape of corticospinal plasticity induced by a sort of associative plasticity between Armeo-Power and MV.
Spasticity is defined as a velocity-dependent increase in muscle tone due to the hyper-excitability of muscle stretch reflex . Spasticity of the upper limb is a common condition following stroke and traumatic brain injury and needs to be assessed carefully because of the significant adverse effects on patient’s motor functions, autonomy, and quality of life .
Different pharmacological and non-pharmacological approaches are currently available for upper limb spasticity management, as physiotherapy (including magnetic stimulation, electromagnetic therapy, sensory-motor techniques, and functional electrical stimulation treatment) and robot-assisted therapy [3–4]. In this regard, several studies suggest robotic devices, including the Armeo® (a robotic exoskeleton for the rehabilitation of upper limbs), may help reducing spasticity by modifying spasticity-related synaptic processes at either the brain or spinal level [5–13], resulting in spasticity reduction in antagonist muscles through, e.g., a strengthening of spinal reciprocal inhibition mechanisms .
Growing research is proposing segmental muscle vibration (MV) as being a powerful tool for the treatment of focal spasticity in post-stroke patients [14–15]. Mechanical devices deliver low-amplitude/high-frequency vibratory stimuli to specific muscles [16–17], thus offering strong proprioceptive inputs by activating the neural pathway from muscle spindle annulospiral endings to Ia-fiber, dorsal column–medial lemniscal pathway, the ventral posterolateral nucleus of the thalamus (and other nuclei of the basal ganglia), up to the primary somatosensory area (postcentral gyrus and posterior paracentral lobule of the parietal lobe), and the primary motor cortex [18–19]. At the cortical network level, proprioceptive inputs can alter the excitability of the corticospinal pathway by modulating intracortical inhibitory and facilitatory networks within primary sensory and motor cortex, and affecting the strength of sensory inputs to motor circuits [20–22]. In particular, periods of focal MV delivered alone can modify sensorimotor organization within the primary motor cortex (i.e., can increase or decrease motor evoked potential—MEP—and short intracortical inhibition (SICI) magnitude in the vibrated muscles, while opposite changes occur in the neighboring muscles), thus reducing segmental hyper-excitability and spasticity [20–22].
While focal MV is commonly used to reduce upper limb post-stroke spasticity, there is no conclusive evidence on the role of robotic rehabilitation in such a condition [14–17,23–27]. A strengthening of the effects of neurorobotics and MV on spasticity could be achieved by combining MV and neurorobotics. The rationale for combining Armeo-Power and MV to reduce spasticity could lie in the summation and amplification of their single modulatory effects on corticospinal excitability . Specifically, it is hypothesizable that MV may strengthen the learning-dependent plasticity processes within sensory-motor areas that are in turn triggered by the intensive, repetitive, and task-oriented movement training offered by Armeo-Power [29–30]. Such an amplification may depend on a sort of associative plasticity (i.e., the one generated by timely coupling two different synaptic inputs) between MV and Armeo-Power [31–33].
To the best of our knowledge, this is the first attempt to investigate such approach. Indeed, a previous study combining MV with conventional physiotherapy used Armeo only as evaluating tool .
The aim of our study was to assess whether a combined protocol employing MV and Armeo-Power training, as compared to Armeo-Power alone, may improve upper limb spasticity and motor function in patients suffering from a hemispheric stroke in the chronic phase. To this end, we compared the clinical and electrophysiological after-effects of Armeo-Power with or without MV on upper limb spasticity. We also assessed the effects on upper limb motor function and muscle activation, disability burden, and mood, given that spasticity may have significant negative consequences on these outcomes. Further, it is important to evaluate mood, as it may negatively affect functional recovery [34–36], increase mortality , and weaken the compliance of the patient to the rehabilitative training [38–39].[…]
[Conference paper] FEX a Fingers Extending eXoskeleton for Rehabilitation and Regaining Mobility – Abstract+References
This paper presents the design process of an exoskeleton for executing human fingers’ extension movement for the rehabilitation procedures and as an active orthosis purposes. The Fingers Extending eXoskeleton (FEX) is a serial, under-actuated mechanism capable of executing fingers’ extension. The proposed solution is easily adaptable to any finger length or position of the joints. FEX is based on the state-of-art FingerSpine serial system. Straightening force is transmitted from a DC motor to the exoskeleton structures with use of pulled tendons. In trial tests the device showed good usability and functionality. The final prototype is a result of almost half a year of the development process described in this paper.
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