Abstract
Various rehabilitation robots have been developed to assist the movement training of the upper limbs of stroke patients, among which some have been used to evaluate the motor recovery. However, how to understand the recovery of motor function from the quantitative assessment following robot-assisted rehabilitation training is still not clear. The objective of this study is to propose a quantitative assessment method of motor function based on the force and trajectory characteristics during robotic training to reflect motor functional recovery. To assist stroke patients who are not able to move voluntarily, an assistive training mode was developed for the robot-assisted rehabilitation system based on admittance control. Then, to validate the relationship between characteristic information and functional recovery, a clinical experiment was conducted, in which nine stroke patients and nine healthy subjects were recruited. The results showed a significant difference in movement range and movement smoothness during trajectory tracking tasks between stroke patients and healthy subjects. The two parameters above have a correlation with the Fugl-Meyer Assessment for Upper Extremity (FMU) of the involved patients. The multiple linear regression analysis showed FMU was positively correlated with parameters (R2=0.91,p<0.005). This finding indicated that the above-mentioned method can achieve quantitative assessment of motor function for stroke patients during robot-assisted rehabilitation training, which can contribute to promoting rehabilitation robots in clinical practice.
Highlights
Stroke is considered to be one of the leading causes of death [1,2], and almost 85%of patients with stroke have functional disability of upper limbs during daily life [3]
Rehabilitation robots provide repetitive movement and intensive accurate training, and they have the potential to be widely used in the recovery of motor function for stroke patients [5,6] based on the theory of motor learning [7]
The objective of this study is to propose an assessment method of motor function aimed at building the relationship between characteristic information, including force and movement trajectory, and functional scores during robot-assisted rehabilitation training based on admittance control
Summary
Stroke is considered to be one of the leading causes of death [1,2], and almost 85%of patients with stroke have functional disability of upper limbs during daily life [3]. Interactive rehabilitation training is labor-intensive and time-consuming for both the therapist and the stroke patient [4]. Rehabilitation robots provide repetitive movement and intensive accurate training, and they have the potential to be widely used in the recovery of motor function for stroke patients [5,6] based on the theory of motor learning [7]. Traditional clinical assessment scales depending on the therapists, such as the Fugl-Meyer Assessment and the Motor Status Score, have been widely validated, accepted and standardized, but they are subjective and time-consuming [8,9], and cannot reflect the rehabilitation state of patients in the process of rehabilitation training in real time. With the development of rehabilitation robot technology and the diversity of rehabilitation training mode, it is necessary to develop quantitative assessment methods based on robotic training to reflect the state of motor recovery of patients
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