Upper-limb kinematic reconstruction during stroke robot-aided therapy.

The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

Pneumatic robotic device for early delivering of rehabilitation therapy.

This paper describes a new pneumatic rehabilitation robot for upper limbs to deliver Proprioceptive Neuro-muscular Facilitation (PNF) therapies to the acute post-stroke patients, even if they are still in supine position. The robotic device assists the therapist in repetitive PNF therapies, learning the defined movement by therapist at the same time that the patient, and then repeating it with different level of assistance. Moreover, the rehabilitation device was designed to be used for relearning daily living skills like: take a glass, drinking, etc. The proposed solution is composed by two robotic arms actuated by pneumatic swivel modules and a virtual environment for the motivation of the patient.