Background
Methods
Description of the hybrid rehabilitation platform for reaching rehabilitation
FES-based controller design
Human arm position
Feedback error learning implementation
Reference generator
Participants and evaluation protocol
Experiment 1
Experiment 2
Patient | Gender | Age (years) | Diagnosis | Affected side | Time since injury (months) | BI | FIM motor subscale | ULMI |
---|---|---|---|---|---|---|---|---|
P1 | Male | 52 | Ischemic stroke | Left | 13 | 98 | 85 | 25 |
P2 | Female | 37 | Hemorrhagic stroke | Left | 15 | 91 | 84 | 25 |
P3 | Female | 30 | Traumatic brain injury | Left | 12 | 95 | 90 | 23.5 |
P4 | Male | 21 | Ischemic stroke | Left | 12 | 61 | 66 | 25 |
Data analysis
Experiment 1
Experiment 2
Results
Experiment 1
RMSE [°] | Power Ratio [%] | Normalized RMS TC-index | |||
---|---|---|---|---|---|
Shoulder (Ø2) | Elbow (Ø5) | Shoulder (Ø2) | Elbow (Ø5) | ||
Trial 1 | 5.9 ± 2.3 | 12.1 ± 3.9 | 6.9 ± 7.9 | 8.22 ± 4.7 | 1 |
Trial 4 | 3.5 ± 2.7 | 6.5 ± 4 | 80.7 ± 17.1 | 86.3 ± 14.2 | 0.93 ± 0.31 |
Trial 8 | 2.9 ± 3.7 | 5.3 ± 1.7 | 92.8 ± 13.9 | 94.5 ± 10.4 | 0.83 ± 0.46 |
Trial 12 | 3.2 ± 3.6 | 4.9 ± 3.1 | 95.6 ± 7.3 | 96.9 ± 5.3 | 0.70 ± 0.38 |
RMSE | PR | |||||||
---|---|---|---|---|---|---|---|---|
1st vs 4th trial | 1st vs 8th trial | 1st vs 12th trial | 1st vs 4th trial | 1st vs 8th trial | 1st vs 12th trial | 4th vs 8th trial | 4th vs 12th trial | |
Shoulder (Ø2) |
p = 0.002
r = −0.62 |
p = 0.005
r = −0.57 |
p = 0.003 r = −0.6 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p > 0.008 |
p = 0.002
r = −0.62 |
Elbow (Ø5) |
p = 0.001
r = −0.67 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p < 0.001
r = −0.71 |
p = 0.005
r = −0.57 |
p < 0.001
r = −0.71 |
Experiment 2
Performance results
Satisfaction assessment
P1 | P2 | P3 | Mean | |
---|---|---|---|---|
Quest. How satisfied are you with the system features?
| ||||
1. The dimensions (size, height, length, width) of your assistive device? | 5 | 5 | 5 | 5 |
2. The weight of your assistive device? | 5 | 5 | 5 | 5 |
3. The easy in adjusting (fixing, fastening) the parts of your assistive device? | 5 | 5 | 5 | 5 |
4. How safe and secure your assistive device is? | 5 | 5 | 5 | 5 |
5. How easy it is to use your assistive device? | 5 | 5 | 5 | 5 |
6. How comfortable your assistive device is? | 4 | 5 | 5 | 4.67 |
7. How effective your assistive device is (the degree to which your device meets your needs)? | 5 | 5 | 5 | 5 |
SAM assessment.
| ||||
1. Pleasure | 9 | 9 | 9 | 9 |
2. Arousal | 5 | 6 | 5 | 5.33 |
3. Dominance | 9 | 9 | 7 | 8.33 |