ABSTRACT
This paper introduces a lightweight bilateral underactuated upper limb exoskeleton (UULE) designed to assist chronic stroke patients with distal joint (Elbow-Wrist) impairments during bimanual activities of daily living (ADL). The UULE aims to assist patients in shoulder flexion/extension, elbow flexion/extension, forearm pronation/supination, and wrist flexion/extension. Notable features include (i) a cable-driven mechanism maintaining a lightweight structure (1.783 kg); (ii) passive joints conforming to less-impaired proximal joints, reducing restrictions on their movements; (iii) a compact design with passive ball joints enabling bilateral configuration for scapula protraction/retraction; and (iv) implementation of the master-slave joint assistance training strategy in an underactuated exoskeleton, achieving symmetric robot joint motion in bimanual ADL. Experiments with ten healthy subjects demonstrated the UULE's effectiveness by revealing significant reductions in muscle activity in a symmetric bimanual ADL task. These advancements address critical limitations of current exoskeletons, showcasing the UULE as a promising contribution to lightweight and effective robotic rehabilitation strategies for chronic stroke patients.
ABSTRACT
This was a quasi-experimental study to compare the effects of center-based training with home-based training on physical function, quality of life and fall incidence in older adults. Fifty older adults were recruited to receive exercise training for 6 months. Participants in the center-based group received training under supervision of a physiotherapist at the day training center. Those in the home-based group received training assisted by a care worker at home. The outcome measures were the Elderly Mobility Scale (EMS), Berg Balance Scale (BBS), Numeric Pain Rating Scale (NPRS), Short-form 12 (SF-12) and fall incidence. Assessments were performed on all participants before and after the 6-month intervention period. Center-based training supervised by a physiotherapist was found to have beneficial effects on physical function, quality of life and fall incidence while home-based training assisted by a care worker had no effect on physical condition and self-rated health status in community dwelling older adults. Service agents should provide center-based or home-based training to the ageing population in a user-friendly way with consideration of factors such as rehabilitation potential and accessibility of transportation.
