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Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành y học dành cho các bạn tham khảo đề tài: Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects | Ziherl et al. Journal of NeuroEngineering and Rehabilitation 2010 7 52 http www.jneuroengrehab.eom content 7 1 52 JNER JOURNAL OF NEUROENGINEERING AND REHABILITATION RESEARCH Open Access Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects Jaka Ziherl Domen Novak Andrej Olensek Matjaz Mihelj Marko Munih Abstract Background Robotic systems are becoming increasingly common in upper extremity stroke rehabilitation. Recent studies have already shown that the use of rehabilitation robots can improve recovery. This paper evaluates the effect of different modes of robot-assistances in a complex virtual environment on the subjects ability to complete the task as well as on various haptic parameters arising from the human-robot interaction. Methods The MIMICS multimodal system that includes the haptic robot HapticMaster and a dynamic virtual environment is used. The goal of the task is to catch a ball that rolls down a sloped table and place it in a basket above the table. Our study examines the influence of catching assistance pick-and-place movement assistance and grasping assistance on the catching efficiency placing efficiency and on movement-dependant parameters mean reaching forces deviation error mechanical work and correlation between the grasping force and the load force. Results The results with groups of subjects 23 subacute hemiparetic subjects 10 chronic hemiparetic subjects and 23 control subjects showed that the assistance raises the catching efficiency and pick-and-place efficiency. The pick-and-place movement assistance greatly limits the movements of the subject and results in decreased work toward the basket. The correlation between the load force and the grasping force exists in a certain phase of the movement. The results also showed that the stroke subjects without assistance and the control subjects performed similarly. Conclusions The robot-assistances used in the study were found to be a possible way to raise the .
