Name: robotic mirror therapy system for functional recovery of hemiplegic arms
Uploaded: 2016-08-15T15:00:00.000+00:00
Duration: 10 min 32 s
Description: Watch this Scientific Journal Video about Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms at JoVE.com

This work was supported by the Brain Fusion Program of Seoul National University (800-20120444) and the Interdisciplinary Research Initiatives Program from College of Engineering and College of Medicine, Seoul National University (800-20150090).

&#160;All of the procedures were reviewed and approved by the Institutional Review Board of Seoul National University Hospital.
1. Mirror Therapy Tasks
<ol>
	<li>Examples of 2-dimensional mirror therapy tasks (Figure 3)
	<ol>
		<li>Freely move the healthy arm while looking in the mirror about 5 min for warm-up exercise. 
		NOTE: One may utilize a metronome so that the patient can exercise the motion of the healthy arm in a rhythmic manner.</li>
		<li>On healthy side, dribble and place a small ball into the chosen hole similar to billiards for about 5 min (&#34;Ball in holes&#34; task). Dribble and place a small ball into a goal similar to soccer for about 5 min (&#34;Soccer game&#34; task).</li>
		<li>Using numbered stickers placed on a table, move the handle on healthy side in numerical order and return in reverse direction (&#34;Dots tracing&#34; task). Repeat for about 5 min.</li>
		<li>Using any object in daily life such as a cup, using handle on healthy side, push it to a chosen place (&#34;Moving a cup&#34; task). Repeat for about 5 min.</li>
	</ol>
	</li>
</ol>
2. Components of the Mirror Robot System
<ol>
	<li>AHRS sensor settings
	<ol>
		<li>Obtain 3 commercially available AHRS sensors. 
		NOTE: AHRS sensors consist of a magneto sensor, accelerometer, and gyro sensors (total 9-axis).</li>
		<li>Connect the AHRS sensor to a PC with a USB connector.</li>
		<li>Use hyperterminal or other communication software to configure general sensor settings.</li>
		<li>For each AHRS sensor, set to RS232 communication and select COM port. Then, set baud rate to 115,200 bits per sec, data bits to 8, parity to none, stop bits to 1, and flow control to none.
		<ol>
			<li>To check the COM port, click home button on bottom left corner. Right click on computer. Then click Properties. Click Device Manager. Expand Port (COM &#38; LPT) tab by clicking it.</li>
		</ol>
		</li>
		<li>Once the communication has been established, set channel to 100 and assign IDs for each sensor. 
		NOTE: Some sensors may need calibration of the accelerometer, gyroscope, and magnetometer before use.</li>
		<li>Set output format as quaternions and set sensors to display battery reserve. 
		NOTE: Quaternions are used to speed up computing as well as to eliminate gimbal lock singularities.</li>
	</ol>
	</li>
	<li>Brushless DC motor settings
	<ol>
		<li>Prepare 2 high-performance brushless DC motors and controllers.</li>
		<li>For each controller, connect the power cable to a power supply. Also, connect the motor cable, Hall sensor cable, and encoder cable to the motor.</li>
		<li>Connect CAN-CAN cable to another controller. 
		NOTE: CANopen is used for communication between devices.</li>
		<li>Set node ID for each controller to distinguish between devices.</li>
		<li>Connect the USB cable to the PC for general configuration.</li>
		<li>Switch on the power supply to power up the controllers and motors.</li>
		<li>Use the motor manufacturer-provided system configuration software to configure and tune the motor, Hall sensor, and encoder. 
		NOTE: Angle limits and home position must be configured for safe operation.</li>
	</ol>
	</li>
	<li>Assembly of frame and motors 
	NOTE: Every custom-made part is named in quotation mark. Please refer to the Table of Materials &#38; Equipment and from Figure 4 to Figure 13.
	<ol>
		<li>For the elbow joint motor, put one of the coupling bodies with keyway on the motor shaft and secure it using an M5 hex socket set screw (Figure 4).</li>
		<li>Secure &#34;Elbow coupling hollow cylinder cover&#34; to the elbow motor using 4x M5 socket head screws (10 mm) and place the buffer part of the couplings (middle slider part) on the top of the coupling body that was attached in step 2.3.1 (Figure 4).</li>
		<li>Plug the ball bearing into &#34;Elbow rooftop frame&#34; and secure it with 4x M4 socket head screws (8 mm) (Figure 5).</li>
		<li>Plug &#34;Elbow motor force dispersion shaft&#34; into &#34;Lower elbow support&#34; and secure it with 4x M3 socket head screws (6 mm). Then, place &#34;Upper elbow support&#34; on top of the &#34;Lower elbow support&#34; and secure it using 8x M3 socket head screws (12 mm) (Figure 6).</li>
		<li>Place the assembly in step 2.3.4 on top, the assembly in step 2.3.3 in the middle, and the last part of the coupling body at the bottom. Join all together and secure the coupling body with M5 hex socket set screws (10 mm) (Figure 7).</li>
		<li>Secure assembly in step 2.3.5 and assembly in step 2.3.2 using 4x M5 socket head screws (15 mm) (Figure 7). Rotate assembly in step 2.3.2 to secure all 4 points.</li>
		<li>Secure &#34;Lower wrist coupling hollow cylinder cover&#34; with the wrist motor using 4x M4 socket head screws (10 mm). Then, place one of the coupling bodies with keyway on the motor shaft and secure it using M4 hex socket set screws; then, place the buffer part of the couplings on top of the coupling body (Figure 8).</li>
		<li>Attach &#34;Friction reduction ring&#34; on top of &#34;Wrist rooftop frame&#34; with double-sided tape or any type of adhesive (Figure 9).</li>
		<li>Plug &#34;Wrist motor force dispersion shaft&#34; into &#34;Handle&#34; and secure it using 4x M2.5 socket head screws (4 mm) (Figure 10).</li>
		<li>Place assembly in step 2.3.9 on top, assembly in step 2.3.8 in the middle, and the last part of the coupling body at the bottom. Join all together and secure the coupling body with M4 hex socket set screws (10 mm) (Figure 10).</li>
		<li>Secure &#34;Wrist motor2roof2&#34; with the assembly in step 2.3.10 using 4x M3 socket head screws (Figure 11).</li>
		<li>Secure assembly in step 2.3.11 and assembly in step 2.3.7 using 4x M3 socket head screws (15 mm) (Figure 11).</li>
		<li>Secure 2 &#34;Joint movement limiter&#34; and 2 shaft collars using 4x M4 socket head screws (15 mm) (Figure 12A).</li>
		<li>Use shaft collars to secure shafts and &#34;Wrist rooftop frame&#34; using 8x M3 socket head screws (8 mm) (Figure 12B).</li>
		<li>Slide shaft collars in assembly 2.3.13 into the shafts in assembly 2.3.14 and secure additional shaft collars with &#34;Lower elbow support&#34; using 4x M4 socket head screws (15 mm). Then, join the two parts and secure with lever (Figure 13A).</li>
		<li>Secure &#34;Support wall&#34; to the assembly in step 2.3.15 using 6x M4 socket head screws (15 mm) (Figure 13B). Secure the table stand and assembly in step 2.3.16 using 6x M6 socket head screws (15 mm) (Figure 13C).</li>
	</ol>
	</li>
</ol>
3. Design of Mirror Robot System
<ol>
	<li>Mathematical model for automatic control
	<ol>
		<li>Set dynamic model for automatic control of upper limb motion (Figure 14). 
		NOTE: A dynamic model of human upper limb motion can be expressed using kinematics of joints and links. Therefore, using an equation for the robot manipulator, the modeling can be obtained as shown below: 
		<img alt="Equation 1" src="/files/ftp_upload/54521/54521eq1.jpg" /> 
		NOTE: (<img alt="Equation 2" src="/files/ftp_upload/54521/54521eq2.jpg" />: Joint position vector, <img alt="Equation 3" src="/files/ftp_upload/54521/54521eq3.jpg" />: Joint velocity vector, <img alt="Equation 4" src="/files/ftp_upload/54521/54521eq4.jpg" />: Joint acceleration vector, H: Inertia matrix, F: Coriolis and centrifugal force matrix, G:Vector of gravitational forces, E: Torque matrix due to interaction with the environment, <img alt="Equation 1" src="/files/ftp_upload/54521/54521eq5.jpg" />: Vector of generalized forces applied to the joints) The hemiplegic and healthy arm show different aspects of motion. That is, the hemiplegic arm cannot move in time due to paralyzed muscles or cannot provide enough torque needed for motion. Therefore, the system is designed such that the rehabilitation training can be done via normal motion through the hemiplegic arm; in other words, the rehabilitation robot is attached to the patient&#39;s hemiplegic arm in order to deliver motions from the healthy arm and can be simply formulated as follows: 
		Motion of rehabilitation robot) = (Healthy arm motion) - (hemiplegic arm motion).</li>
		<li>With a rehabilitation robot, attach the patient&#39;s paralyzed arm to the manipulator, and observe additional torque and time delay due to the paralyzed arm causing errors in the overall system. Detect this via a manipulator on the hemiplegic side.</li>
		<li>Measure errors (s(t): tracking error) as a mathematical equation: 
		<img alt="Equation 6" src="/files/ftp_upload/54521/54521eq6.jpg" /> 
		NOTE: (s: Tracking error, <img alt="Equation 7" src="/files/ftp_upload/54521/54521eq7.jpg" />: Positive definite design parameter matrix, <img alt="Equation 8" src="/files/ftp_upload/54521/54521eq8.jpg" />: Error between desired and actual position, <img alt="Equation 1" src="/files/ftp_upload/54521/54521eq9.jpg" />: Error between desired and actual velocity) The above tracking error can be combined with a dynamic model of human upper limb motion and can be expressed as: 
		<img alt="Equation 10" src="/files/ftp_upload/54521/54521eq10.jpg" /> 
		NOTE: (KD : Derivative gain value with feedback compensation that changes over time, <img alt="Equation 11" src="/files/ftp_upload/54521/54521eq11.jpg" />: Inertia error matrix, <img alt="Equation 12" src="/files/ftp_upload/54521/54521eq12.jpg" />: Coriolis and centrifugal force error matrix)</li>
		<li>To control each joint of the rehabilitation robot, use Lagrangian dynamics8. A dynamic equation of motion for each joint is: 
		<img alt="Equation 13" src="/files/ftp_upload/54521/54521eq13.jpg" /> 
		NOTE: (D: Coefficient matrix, <img alt="Equation 14" src="/files/ftp_upload/54521/54521eq14.jpg" />: Actuator inertia matrix) Coefficient D in the equation above affects the torque between joints with inertial coupling effect between joints8. The automatic control model using this mathematical model can be illustrated by the block scheme in Figure 14.</li>
	</ol>
	</li>
	<li>Software protocol (Figure 15)
	<ol>
		<li>When the program starts, establish communication with motors and sensors, and initialize the values. Once the motors and sensors are at the initial position (see 4.1.3), move on to the main loop. 
		NOTE: For sampling frequency of the main loop, we recommend 50 - 200 samples/sec. For the maximum delay, we recommend 2 sec at most. In addition, for torque limits, we recommend to regulate the motor current value with software so that the elbow motor can exert 25 - 40 Nm and wrist motor can exert 10 - 20 Nm.</li>
		<li>As it is not interrupted by a stop button, continuously read the Attitude and Heading Reference System (AHRS) sensors&#39; current position values to transmit the values to the motors. 
		NOTE: The data output is in quaternions, and should be properly transformed into the desired angle for robot motion. Choose one of the sensor coordinate frames as a reference, and reset the other sensor coordinate frames. With calculated frames as a reference, use inverse kinematics to obtain the final output yaw angles.</li>
		<li>As it is not interrupted by a stop button, continuously check the motors&#39; positions and update the values to accomplish movement to the desired position provided by the AHRS sensors. 
		NOTE: The motor position is provided by motor&#39;s encoder that can be checked inside the software with the motor company&#39;s provided software library command.</li>
		<li>Meanwhile, record all angles and angular velocities from the AHRS sensors.</li>
		<li>Once the tasks are completed and the user presses the stop button, exit the loop and finalize the robot by moving it to the initial position.</li>
	</ol>
	</li>
	<li>Graphical user interface (GUI) (Figure 16)
	<ol>
		<li>Add &#34;error in&#34; and &#34;error out&#34; functions to detect and debug errors during execution.</li>
		<li>Add patient-side button to choose the robot operation side (patient&#39;s paretic side).</li>
		<li>Construct a patient information box to identify the patients.</li>
		<li>Add motor status indicators.</li>
		<li>Add angle limitation controls for safety.</li>
		<li>Configure the maximum velocity, acceleration, and deceleration for each motor to prevent muscle and tendon injuries due to a stiff upper limb. 
		NOTE: The system reflects the acceleration and deceleration of the hemiplegic arm.</li>
		<li>Add indicators to retrieve motor position and velocity, and input current information.</li>
		<li>Build a VISA resource name control to establish communication between AHRS sensors and the system.</li>
		<li>Add a calibration function to eliminate accumulated sensor drift errors.</li>
		<li>Arrange the indicator for the sensors in order to retrieve sensor information. 
		NOTE: The sensor information includes the joint angles (angle between two consecutive sensors) and battery reserve.</li>
	</ol>
	</li>
	<li>Overcoming arm spasticity during mirror robot operation
	<ol>
		<li>Select motors that can exert enough torque to overcome spasticity for each joint. 
		NOTE: Wrist motor should have torque output higher than 10 Nm, and elbow motor higher than 25 Nm.</li>
		<li>In order to firmly transfer the robot motion to the patient&#39;s arm, use straps that are made of semi-elastic material to fix the forearm in the robot exoskeleton. 
		NOTE: Semi-elastic straps, such as stretch fabrics straps or polyester/nylon elastic braided straps, are recommended. If the straps are too elastic, it will not hold the arm in position. If the straps are not elastic at all, muscle or tendon injuries may occur in the case of a high degree of elbow spasticity.</li>
		<li>In order to isolate elbow and wrist motion, use 2 solid frames combined with a shaft collar to fix the wrist by squeezing it in the frames. 
		NOTE: Shaft collars are used to prevent muscle and tendon injuries if the stiffness in the wrist is excessive.</li>
		<li>Use straps around the handle to fix the hand to the robot.</li>
	</ol>
	</li>
</ol>
4. Clinical Application of the Mirror Robot System
<ol>
	<li>Conducting robotic mirror therapy
	<ol>
		<li>Adjust height and width of the task table in accordance with the patient&#39;s condition.</li>
		<li>Set up a mirror in the midline between both arms, and set it on a table or platform.</li>
		<li>Place AHRS sensors on handle, wrist frame, and edge of platform on healthy side aligning in parallel with the robot&#39;s orientation. 
		NOTE: The sensor&#39;s internal yaw axis should be pointing up.</li>
		<li>Execute the therapy software in a computer.</li>
		<li>Choose the hemiplegic side by clicking the Patient-Side switch button.</li>
		<li>Set the maximum joint angle limits in accordance with patient&#39;s joint condition. For safe operation, use elbow flexion limit less than 50&#186;, elbow extension limit more than -70&#186;, wrist flexion limit less than 80&#186;, and wrist extension limit more than -60&#186;. 
		NOTE: Plus and minus signs are automatically corrected and limits are also corrected if out of bounds in software level.</li>
		<li>Set maximum velocity, acceleration, and deceleration. For these values, use velocity value between 0 and 22.5 rpm for elbow motor and use velocity value between 0 and 33 rpm for wrist motor. 
		NOTE: For conventional mirror therapy, set all values to zero to immobilize the robot.</li>
		<li>Fill out patient information.</li>
		<li>Turn on all AHRS Sensors before running the program.</li>
		<li>Run the program by clicking the arrow button in the upper left corner of the program.</li>
		<li>Once the &#34;save as&#34; prompt pops up, write proper file names for result data on the string box and press ok.</li>
		<li>While the robot and the healthy arm are at initial position (both hands away from the body and parallel to each other), press the calibration button to initialize sensor values to zero for the initial position. 
		NOTE: See steps 1.1.1 - 1.1.4 for the hands used in this task.</li>
		<li>Press STOP button when all the tasks are completed. 
		NOTE: For the robotic mirror therapy, a biomedical engineer should act as the main coordinator, and the occupational therapist should assist the patient.</li>
	</ol>
	</li>
	<li>Clinical a study on healthy subjects
	<ol>
		<li>Conduct a clinical study on healthy subjects to confirm safety and feasibility8. Give the instruction (&#34;Do not move your hemiplegic arm on your own.&#34;) to the subjects for completely passive movement of hemiplegic arm.</li>
		<li>Place both forearms on the frames, and hands on the handles. Then, fix the forearms with straps.</li>
	</ol>
	</li>
	<li>Evaluation of therapeutic effects
	<ol>
		<li>Before the therapy, conduct functional evaluations such as Fugl-Meyer assessment scale9, modified Ashworth scale10, modified Barthel index11, Jebsen hand function test, hand power measurement, hemispatial neglect test, and motor evoked potential test for the patients.</li>
		<li>Conduct clinical trial for stroke patients with 2-dimensional mirror robot for 30 - 60 min per day. Give the instruction (&#34;Do not move your hemiplegic arm on your own.&#34;) to the patients.</li>
		<li>After the patients accomplish last session, conduct follow-up functional evaluations.</li>
	</ol>
	</li>
</ol>

<ol>
	<li>Hamzei, F., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Functional+plasticity+induced+by+mirror+training:+the+mirror+as+the+element+connecting+both+hands+to+one+hemisphere.">Functional plasticity induced by mirror training: the mirror as the element connecting both hands to one hemisphere.</a> Neurorehabil Neural Repair. 26 (5), 484-496 (2012).</li><li>Thieme, H., Mehrholz, J., Pohl, M., Behrens, J., Dohle, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mirror+therapy+for+improving+motor+function+after+stroke.">Mirror therapy for improving motor function after stroke.</a> Cochrane Database Syst Rev. 3, CD008449 (2012).</li><li>Dohle, C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mirror+therapy+promotes+recovery+from+severe+hemiparesis:+a+randomized+controlled+trial.">Mirror therapy promotes recovery from severe hemiparesis: a randomized controlled trial.</a> Neurorehabil Neural Repair. 23 (3), 209-217 (2009).</li><li>Pervane Vural, S., Nakipoglu Yuzer, G. F., Sezgin Ozcan, D., Demir Ozbudak, S., Ozgirgin, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effects+of+Mirror+Therapy+in+Stroke+Patients+With+Complex+Regional+Pain+Syndrome+Type+1:+A+Randomized+Controlled+Study.">Effects of Mirror Therapy in Stroke Patients With Complex Regional Pain Syndrome Type 1: A Randomized Controlled Study.</a> Arch Phys Med Rehabil. 97 (4), 575-581 (2016).</li><li>De Santis, D., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+training+of+the+kinesthetic+sense:+enhancing+proprioception+after+stroke.">Robot-assisted training of the kinesthetic sense: enhancing proprioception after stroke.</a> Front Hum Neurosci. 8, 1037 (2015).</li><li>Smorenburg, A. R., Ledebt, A., Deconinck, F. J., Savelsbergh, G. J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Practicing+a+matching+movement+with+a+mirror+in+individuals+with+spastic+hemiplegia.">Practicing a matching movement with a mirror in individuals with spastic hemiplegia.</a> Res Dev Disabil. 34 (9), 2507-2513 (2013).</li><li>Semrau, J. A., Herter, T. M., Scott, S. H., Dukelow, S. P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+identification+of+kinesthetic+deficits+after+stroke.">Robotic identification of kinesthetic deficits after stroke.</a> Stroke. 44 (12), 3414-3421 (2013).</li><li>Niku, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Chapter+4,+Dynamic+Analysis+and+Forces.">Chapter 4, Dynamic Analysis and Forces.</a> Introduction to Robotics: Analysis, Systems, Applications. , (2001).</li><li>Sanford, J., Moreland, J., Swanson, L. R., Stratford, P. W., Gowland, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Reliability+of+the+Fugl-Meyer+assessment+for+testing+motor+performance+in+patients+following+stroke.">Reliability of the Fugl-Meyer assessment for testing motor performance in patients following stroke.</a> Phys Ther. 73 (7), 447-454 (1993).</li><li>Bohannon, R. W., Smith, M. B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Interrater+reliability+of+a+modified+Ashworth+scale+of+muscle+spasticity.">Interrater reliability of a modified Ashworth scale of muscle spasticity.</a> Phys Ther. 67 (2), 206-207 (1987).</li><li>Shah, S., Vanclay, F., Cooper, B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Improving+the+sensitivity+of+the+Barthel+Index+for+stroke+rehabilitation.">Improving the sensitivity of the Barthel Index for stroke rehabilitation.</a> J Clin Epidemiol. 42 (8), 703-709 (1989).</li><li>Lo, A. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+therapy+for+long-term+upper-limb+impairment+after+stroke.">Robot-assisted therapy for long-term upper-limb impairment after stroke.</a> N Engl J Med. 362 (19), 1772-1783 (2010).</li><li>Ho, N. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=An+EMG-driven+exoskeleton+hand+robotic+training+device+on+chronic+stroke+subjects:+task+training+system+for+stroke+rehabilitation.">An EMG-driven exoskeleton hand robotic training device on chronic stroke subjects: task training system for stroke rehabilitation.</a> IEEE Int Conf Rehabil Robot. , 5975340 (2011).</li><li>Hesse, S., Schulte-Tigges, G., Konrad, M., Bardeleben, A., Werner, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+arm+trainer+for+the+passive+and+active+practice+of+bilateral+forearm+and+wrist+movements+in+hemiparetic+subjects.">Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movements in hemiparetic subjects.</a> Arch Phys Med Rehabil. 84 (6), 915-920 (2003).</li><li>Lum, P. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=MIME+robotic+device+for+upper-limb+neurorehabilitation+in+subacute+stroke+subjects:+A+follow-up+study.">MIME robotic device for upper-limb neurorehabilitation in subacute stroke subjects: A follow-up study.</a> J Rehabil Res Dev. 43 (5), 631-642 (2006).</li><li>Yang, C. L., Lin, K. C., Chen, H. C., Wu, C. Y., Chen, C. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Pilot+comparative+study+of+unilateral+and+bilateral+robot-assisted+training+on+upper-extremity+performance+in+patients+with+stroke.">Pilot comparative study of unilateral and bilateral robot-assisted training on upper-extremity performance in patients with stroke.</a> Am J Occup Ther. 66 (2), 198-206 (2012).</li><li>Nef, T., Mihelj, M., Riener, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=ARMin:+a+robot+for+patient-cooperative+arm+therapy.">ARMin: a robot for patient-cooperative arm therapy.</a> Med Biol Eng Comput. 45 (9), 887-900 (2007).</li><li>Ozkul, F., Barkana, D. E., Demirbas, S. B., Inal, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Evaluation+of+proprioceptive+sense+of+the+elbow+joint+with+RehabRoby.">Evaluation of proprioceptive sense of the elbow joint with RehabRoby.</a> IEEE Int Conf Rehabil Robot. , 5975466 (2011).</li><li>Pehlivan, A. U., Celik, O., O'Malley, M. K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mechanical+design+of+a+distal+arm+exoskeleton+for+stroke+and+spinal+cord+injury+rehabilitation.">Mechanical design of a distal arm exoskeleton for stroke and spinal cord injury rehabilitation.</a> IEEE Int Conf Rehabil Robot. , 5975428 (2011).</li><li>Zhang, H., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Feasibility+studies+of+robot-assisted+stroke+rehabilitation+at+clinic+and+home+settings+using+RUPERT.">Feasibility studies of robot-assisted stroke rehabilitation at clinic and home settings using RUPERT.</a> IEEE Int Conf Rehabil Robot. , 5975440 (2011).</li></ol>

The authors have nothing to disclose.

The primary purpose of this study was to develop a real-time mirror robot system for functional recovery of a hemiplegic arm using an automatic control algorithm. The effect of robot-assisted therapy on long-term recovery of upper-limb impairment after stroke was proven beneficial in previous studies12, and various kinds of arm robots have been introduced13-20. However, previous studies of upper extremity robots that realized bilateral arm movement applied mechanical connections without using a mirror, which is different from the concept of mirror therapy14-15. Thus, our study can be an extension of their work by using an actual mirror to facilitate proprioceptive input.
To upgrade the previous system, we enabled the hemiplegic arm to move in real-time by applying AHRS sensors on the healthy arm and attaching motors to the hemiplegic elbow and wrist. Proprioceptive input from the hemiplegic arm to the sensory cortex of brain can be enhanced through the mirror robot system. Facilitation of proprioception needs to be confirmed by functional brain MRI in a future study.
It is critical for the system to have minimum synchronization delay since the mirror effect will be maximized when the delay is minimized. To achieve this, we retrieved data from sensors with minimum necessary byte count while reading them in parallel within a loop inside the software architecture. As a result, the synchronization delay between the healthy arm and the robot is only about 0.04 - 0.40 sec.
There are several limitations in this study. First, we could not include fine finger movements such as grip or pinch, and 3-dimensional tasks of conventional mirror therapy. Second, we did not fix the elbow joint of the healthy arm to preserve physiologic movement as much as possible. However, restriction of the range of elbow motion would be helpful to enhance synchronicity with the opposite elbow which is moved by the motor. Modifying the system by installing additional structure that secures the healthy side elbow will improve the synchronicity and, therefore, will increase the effect of the therapy. Third, patients who had severe spasticity or stiffness could not be included because of insufficient motor power, although the joint moved slowly. The system could be modified by replacing the motor with higher torque output to overcome moderate stiffness. However, even with strong motor, treatment to patients with severe levels of spasticity or stiffness should be avoided to prevent tendon or bone injuries due to excessive force application to the joints.
We believe, however, that the mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

For patients with stroke, dysfunction of a hemiplegic arm has debilitating effect. The ability to perform bimanual activities is essential for daily life, but functional deficit of a hemiplegic arm often remains even a few years after stroke onset. Among various training programs in the hospital, an exercise to increase the range of motion or passive repetition of simple tasks have little effect on functional recovery of a hemiplegic arm. For this reason, training of meaningful tasks related to activities of daily living (ADLs) has been applied to occupational therapy in hospitals.
The effects of mirror therapy were proven by previous studies in neurorehabilitation1-4. Mirror therapy is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity by activation of the sensorimotor cortex1. Thus, motor power and function of the hemiplegic arm can be improved. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving.
Therefore, we developed a real-time 2-axis mirror robot system as a simple add-on module to conventional mirror therapy, using closed feedback mechanism. This may convey proprioceptive input to the sensory cortex, which is considered important in neuroplasticity and functional recovery of a hemiplegic arm (Figures 1 and 2)5-7.

<table><tbody><tr><td>LabVIEW</td><td>National Instruments</td><td></td><td>System design software</td></tr><tr><td>24 V power supply</td><td>XP Power</td><td>MHP1000PS24 24V</td><td>Any 24 V power supply should do</td></tr><tr><td>AHRS sensor receiver</td><td>E2box</td><td>EBRF24GRCV</td><td></td></tr><tr><td>AHRS sensors</td><td>E2box</td><td>EBIMU-9DOFV2</td><td>You will need total 3 sensors. Any AHRS sensors will do</td></tr><tr><td>EC90 flat motor module</td><td>Maxon</td><td>323772 + 223094 + 453231</td><td>Any geared motor with higher than 30 Nm should do. (For our custom machined parts, you will need these particular flat motor and gear module, but the gear ratio and encoder may vary)&amp;nbsp;</td></tr><tr><td>EC45 flat motor module</td><td>Maxon</td><td>397172</td><td>Any geared motor with higher than 10 Nm should do (For our custom machined parts, you should use the same gear module but the gear ratio, motor, and encoder may vary)</td></tr><tr><td>EPOS2 70/10 controller</td><td>Maxon</td><td>375711</td><td>This can be replaced with EPOS 24/5 controller</td></tr><tr><td>EPOS2 24/5 controller</td><td>Maxon</td><td>367676</td><td></td></tr><tr><td>Connector and cable set</td><td>Maxon</td><td>381405 + 384915 + 275934 + 354045</td><td>You can also make these cables. Connectors and corresponding wire info can be found in &quot;300583-Hardware-Reference-En.pdf&quot; and &quot;300583-Cable-Starting-Set-En.pdf&quot;</td></tr><tr><td>Coupling- Oldham, Set Screw Type</td><td>Misumi</td><td>MCORK30-10-12</td><td>Type may vary</td></tr><tr><td>Coupling- High Rigidity, Oldham,&lt;br/&gt; Set Screw Type</td><td>Misumi</td><td>MCOGRK34-12-12</td><td>Type may vary</td></tr><tr><td>Shaft Collars</td><td>Misumi</td><td>SCWDM10-B &amp;nbsp;</td><td>You will need 4 sets</td></tr><tr><td>Shaft Collars</td><td>Misumi</td><td>SDBJ10-8</td><td>You will need 2 sets</td></tr><tr><td>Precision Linear Shaft</td><td>Misumi</td><td>&amp;nbsp;PSSFG10-200</td><td>Any straight 10 mm diameter shaft with at least 200 mm length should do&amp;nbsp;</td></tr><tr><td>Bearings with housings</td><td>Misumi</td><td>BGRAB6801ZZ</td><td></td></tr><tr><td>Elbow motor force dispersion shaft&amp;nbsp;</td><td>custom machined</td><td>3D CAD&amp;nbsp;</td><td></td></tr><tr><td>Lower elbow support</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Elbow rooftop frame</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Support wall</td><td>custom machined</td><td>Part Drawings</td><td>You will need 2 frames.</td></tr><tr><td>Elbow coupling hollow cylinder cover&amp;nbsp;</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Wrist motor force dispersion shaft</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Wrist rooftop frame</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Upper wrist coupling hollow cylinder cover</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Lower wrist coupling hollow cylinder cover</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Joint movement limiter</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Handle</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Upper elbow support</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Friction reduction ring</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Acrylic mirror</td><td>custom laser cutting</td><td>Part Drawings</td><td></td></tr><tr><td>Task table</td><td>custom machined</td><td>Part Drawings</td><td></td></tr><tr><td>Silicone sponge</td><td></td><td></td><td></td></tr><tr><td>DOF limiter</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>DOF limiter lid</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Healthyarm handle</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Ball rollers - Press fit</td><td>Misumi</td><td>BCHA18</td><td></td></tr><tr><td>Goalpost</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Circle trace</td><td>3D printed</td><td>Part Drawings</td><td></td></tr><tr><td>Angled assist</td><td>3D printed</td><td>Part Drawings</td><td>Optional</td></tr><tr><td>Curved assist</td><td>3D printed</td><td>Part Drawings</td><td>Optional</td></tr><tr><td>Plain assist</td><td>3D printed</td><td>Part Drawings</td><td>Optional</td></tr><tr><td>Task board</td><td>custom laser cutting</td><td>Part Drawings</td><td></td></tr></tbody></table>

robotic mirror therapy system for functional recovery of hemiplegic arms

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

Six healthy subjects conducted a &#39;pen marking task&#39; (touching the two small boards alternately with a pen attached on the healthy hand as shown in Figure 17) 10 times which took on average 106 sec per subject. No adverse event was observed, and robotic mirror therapy was proven to be feasible.
In addition, a clinical study on rehabilitation doctors was conducted. We requested expert opinions to determine appropriate tasks for effective robotic mirror occupational therapy. With feedback from 6 rehabilitation doctors, the degree of illusion elicited by the mirror robot was highest for &#34;ball in holes&#34; and &#34;moving a cup&#34; tasks (7.2 out of 10 on a numerical rating scale [NRS] for each), followed by &#34;soccer game&#34; (7.0/10) and &#34;dots tracing&#34; tasks (6.5/10). Regarding the synchronicity of movement between both arms during robotic mirror therapy, &#34;moving a cup&#34; task had an NRS score of 7.0/10, followed by &#34;soccer game&#34; and &#34;dots tracing&#34; (6.8/10 each), and &#34;ball in holes&#34; (6.2/10) (Figure 3). Among these 4 tasks, rehabilitation doctors recommended &#34;soccer game&#34; as a useful task for ADL training in patients with stroke.
We conducted a clinical trial for stroke patients with mirror robot for 30 min per day for 2 weeks (10 sessions). Subjects need to meet the following inclusion criteria: 1) over 18 years old; 2) supratentorial stroke diagnosed between 4 months and 6 years ago; and 3) upper-limb hemiplegia with Medical Research Council (MRC) grade 2 or less. Main exclusion criteria are as follows: 1) modified Ashworth scale of grade 3 or more (severe spasticity); 2) mini-mental state examination score less than 12; and 3) global or sensory aphasia.
A 60-year-old male stroke patient with right basal ganglia hemorrhage and left hemiplegia 19 months prior received robotic mirror therapy for 2 weeks. Robotic mirror therapy consisted of 4 tasks (&#34;ball in holes&#34;, &#34;moving a cup&#34;, &#34;soccer game&#34;, and &#34;dots tracing&#34;). After the patient accomplishes the 10th visit, he conducted follow-up functional evaluations. The Fugl-Meyer assessment scale of the hemiplegic arm improved from 12 to 17 out of 66, and modified Ashworth scale of elbow flexors (for spasticity) was reduced from grade 2 to 1+. Left lateral pinch power was increased from 0 to 3 lb. Other parameters revealed no difference before and after robotic mirror therapy (Figure 18 and Table 1).
<img alt="Figure 1" src="/files/ftp_upload/54521/54521fig1.jpg" /> 
Figure 1. Conceptual Flow for the Robotic Mirror Therapy to Facilitate Proprioceptive Input. The experiment is designed in accordance with the conceptual flow for the robotic mirror therapy.
<img alt="Figure 2" src="/files/ftp_upload/54521/54521fig2.jpg" /> 
Figure 2. A Diagram of the Mirror Robot System. Movements of the healthy arm are projected to the exoskeleton attached to the hemiplegic arm by a software algorithm through input from 3 AHRS sensors. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig2large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<img alt="Figure 3" src="/files/ftp_upload/54521/54521fig3.jpg" /> 
Figure 3. Various Tasks using the Mirror Robot System. The users can be trained by 2-dimensional tasks; ball in holes, soccer game, dots tracing, and moving a cup. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig3large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<img alt="Figure 4" src="/files/ftp_upload/54521/54521fig4.jpg" /> 
Figure 4. Elbow Motor Assembly. Assembly steps for elbow joint motor, couplings, and elbow coupling hollow cylinder cover.
<img alt="Figure 5" src="/files/ftp_upload/54521/54521fig5.jpg" /> 
Figure 5. Bearing &#38; Elbow Rooftop Frame Assembly. Assembly between bearing and the elbow rooftop frame assembly.
<img alt="Figure 6" src="/files/ftp_upload/54521/54521fig6.jpg" /> 
Figure 6. Elbow Support Assembly. Assembly steps for elbow motor force dispersion shaft, upper elbow support, and lower elbow support.
<img alt="Figure 7" src="/files/ftp_upload/54521/54521fig7.jpg" /> 
Figure 7. Elbow Support &#38; Elbow Motor Assembly. Assembly steps for the elbow support and the elbow motor.
<img alt="Figure 8" src="/files/ftp_upload/54521/54521fig8.jpg" /> 
Figure 8. Wrist Motor Assembly. Assembly steps for wrist joint motor, couplings, and lower wrist coupling hollow cylinder cover.
<img alt="Figure 9" src="/files/ftp_upload/54521/54521fig9.jpg" /> 
Figure 9. Friction Reduction Ring Attachment. Attachment of the friction reduction ring to the wrist rooftop frame.
<img alt="Figure 10" src="/files/ftp_upload/54521/54521fig10.jpg" /> 
Figure 10. Handle Assembly. Assembly steps for the 3D printed handle, coupling, and the wrist motor force dispersion shaft.
<img alt="Figure 11" src="/files/ftp_upload/54521/54521fig11.jpg" /> 
Figure 11. Handle &#38; Wrist Motor Assembly. Assembly steps for the wrist motor and the handle.
<img alt="Figure 12" src="/files/ftp_upload/54521/54521fig12.jpg" /> 
Figure 12. Joint Movement Limiter Assembly. Assembly steps for the (A) joint movement limiter, (B) length adjustment shaft, and the assembled handle.
<img alt="Figure 13" src="/files/ftp_upload/54521/54521fig13.jpg" /> 
Figure 13. Final Assembly. Assembly steps for the (A) assembled elbow motor part with the assembled wrist motor part using shaft collars and shaft, (B) assembled robot with the support walls, and (C) assembled robot with the task table. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig13large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<img alt="Figure 14" src="/files/ftp_upload/54521/54521fig14.jpg" /> 
Figure 14. Block Scheme of the Automatic Control Mathematical Model. The exoskeleton robot utilizes closed feedback mechanism for real-time control.
<img alt="Figure 15" src="/files/ftp_upload/54521/54521fig15.jpg" /> 
Figure 15. Overall Software Program. The software program uses a closed feedback mechanism to drive the robot system. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig15large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<img alt="Figure 16" src="/files/ftp_upload/54521/54521fig16.jpg" /> 
Figure 16. GUI of the Program. User can control and configure the program for therapy via GUI. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig16large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<img alt="Figure 17" src="/files/ftp_upload/54521/54521fig17.jpg" /> 
Figure 17. A Pen Marking Task in 6 Healthy Subjects using Prototype of Mirror Robot System. Conducting a pen marking task 10 times consecutively took on average 106 sec per subject.
<img alt="Figure 18" src="/files/ftp_upload/54521/54521fig18.jpg" /> 
Figure 18. Functional Evaluation of a 60-year-old Male Patient with Chronic Right Basal Ganglia Hemorrhage. Main subsets of data that showed improvement after 10 sessions of robotic mirror therapy. <a href="https://www-jove-com.remotexs.ntu.edu.sg/files/ftp_upload/54521/54521fig18large.jpg" target="_blank">Please click here to view a larger version of this figure.</a>
<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td></td>
			<td>Before</td>
			<td>After 10 sessions</td>
		</tr>
		<tr>
			<td>Mini-mental state examination</td>
			<td>29</td>
			<td>-</td>
		</tr>
		<tr>
			<td>Fugl-Meyer assessment scale 
			(Upper extremity)</td>
			<td>12</td>
			<td>17</td>
		</tr>
		<tr>
			<td>&#160;&#160; Shoulder/elbow</td>
			<td>11</td>
			<td>15</td>
		</tr>
		<tr>
			<td>&#160;&#160; Wrist</td>
			<td>0</td>
			<td>1</td>
		</tr>
		<tr>
			<td>&#160;&#160; Hand</td>
			<td>1</td>
			<td>1</td>
		</tr>
		<tr>
			<td>Modified Ashworth scale</td>
			<td></td>
			<td></td>
		</tr>
		<tr>
			<td>&#160;&#160; Elbow flexor</td>
			<td>2</td>
			<td>1+</td>
		</tr>
		<tr>
			<td>&#160;&#160; Wrist flexor</td>
			<td>0</td>
			<td>0</td>
		</tr>
		<tr>
			<td>Modified Barthel index 
			(Upper extremity)</td>
			<td>25</td>
			<td>25</td>
		</tr>
		<tr>
			<td>Jebsen hand function test</td>
			<td>Uncheckable</td>
			<td>Uncheckable</td>
		</tr>
		<tr>
			<td>Left hand power (lb)</td>
			<td></td>
			<td></td>
		</tr>
		<tr>
			<td>&#160; Grip</td>
			<td>8</td>
			<td>8</td>
		</tr>
		<tr>
			<td>&#160;&#160; Lateral pinch</td>
			<td>0</td>
			<td>3</td>
		</tr>
		<tr>
			<td>&#160;&#160; Palmar pinch</td>
			<td>0</td>
			<td>0</td>
		</tr>
		<tr>
			<td>Hemineglect test</td>
			<td></td>
			<td></td>
		</tr>
		<tr>
			<td>&#160;&#160; Line bisection test</td>
			<td>6/6 each</td>
			<td>6/6 each</td>
		</tr>
		<tr>
			<td>&#160;&#160; Albert test</td>
			<td>12/12 each</td>
			<td>12/12 each</td>
		</tr>
		<tr>
			<td>Motor evoked potential</td>
			<td>No response</td>
			<td>No response</td>
		</tr>
	</tbody>
</table>
Table 1. Functional Evaluation of a 60-year-old Male Patient with Chronic right Basal Ganglia Hemorrhage.

Watch this Scientific Journal Video about Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms at JoVE.com

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

We developed a real-time mirror robot system for functional recovery of hemiplegic arms using automatic control technology, conducted a clinical study on healthy subjects, and determined tasks through feedback from rehabilitation doctors. This simple mirror robot can be applied effectively to occupational therapy in stroke patients with a hemiplegic arm.

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is ...

robotic-mirror-therapy-system-for-functional-recovery-hemiplegic

Nanyang Technological University

Research

JoVE Journal

Bioengineering

15.4K Views.  Seoul National University College of Medicine.  We ontwikkelden een real-time mirror robot systeem voor het functioneel herstel van de aangedane armen met behulp van automatische controle-technologie, voerden een klinische studie met gezonde proefpersonen, en vastbesloten taken via feedback van revalidatie artsen. Deze eenvoudige spiegel robot kan effectief te ergotherapie bij patiënten met een beroerte worden aangebracht met een aangedane arm. 

Video: Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other forms of biofeedback. Previous human-robot interactive systems have required different software commands to be implemented for each robot leading to unnecessary developmental overhead time each time a new system becomes available. For example, when a haptic/graphic virtual reality environment has been coded for one specific robot to provide haptic feedback, that specific robot would not be able to be traded for another robot without recoding the program. However, recent efforts in the open source community have proposed a wrapper class approach that can elicit nearly identical responses regardless of the robot used. The result can lead researchers across the globe to perform similar experiments using shared code. Therefore modular "switching out"of one robot for another would not affect development time. In this paper, we outline the successful creation and implementation of a wrapper class for one robot into the open-source H3DAPI, which integrates the software commands most commonly used by all robots.

Recently, a vast amount of prospects have come available for human-robot interactive systems. In this paper we outline the integration of a new robotic device with open source software that can rapidly make possible a library of interactive functionality. We then outline a clinical application for a neurorehabilitation application.

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other ...

Robotic Production of Cancer Cell Spheroids with an Aqueous Two-phase System for Drug Testing

Cancer cell spheroids present a relevant in vitro model of avascular tumors for anti-cancer drug testing applications. A detailed protocol for producing both mono-culture and co-culture spheroids in a high throughput 96-well plate format is described in this work. This approach utilizes an aqueous two-phase system to confine cells into a drop of the denser aqueous phase immersed within the second aqueous phase. The drop rests on the well surface and keeps cells in close proximity to form a single spheroid. This technology has been adapted to a robotic liquid handler to produce size-controlled spheroids and expedite the process of spheroid production for compound screening applications. Spheroids treated with a clinically-used drug show reduced cell viability with increase in the drug dose. The use of a standard micro-well plate for spheroid generation makes it straightforward to analyze viability of cancer cells of drug-treated spheroids with a micro-plate reader. This technology is straightforward to implement both robotically and with other liquid handling tools such as manual pipettes.

A protocol for robotic printing of cancer cell spheroids in a high throughput 96-well plate format using an aqueous two-phase system is presented.

Cancer cell spheroids present a relevant in vitro model of avascular tumors for anti-cancer drug testing applications. A detailed protocol for producing ...

The Combined Use of Transcranial Direct Current Stimulation and Robotic Therapy for the Upper Limb

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of daily activities due to lower and upper limb impairments. Intensive physical and occupational therapy are still considered main treatments, but new adjunct therapies to standard rehabilitation that may optimize functional outcomes are being studied.
Transcranial direct current stimulation (tDCS) is a noninvasive brain stimulation technique that polarizes underlying brain regions through the application of weak direct currents through electrodes on the scalp, modulating cortical excitability. Increased interest in this technique can be attributed to its low cost, ease of use, and effects on human neural plasticity. Recent research has been performed to determine the clinical potential of tDCS in diverse conditions such as depression, Parkinson&#39;s disease, and motor rehabilitation after stroke. tDCS helps enhance brain plasticity and seems to be a promising technique in rehabilitation programs.
A number of robotic devices have been developed to assist in the rehabilitation of upper limb function after stroke. The rehabilitation of motor deficits is often a long process requiring multidisciplinary approaches for a patient to achieve maximum independence. These devices do not intend to replace manual rehabilitation therapy; instead, they were designed as an additional tool to rehabilitation programs, allowing immediate perception of results and tracking of improvements, thus helping patients to stay motivated.
Both tDSC and robot-assisted therapy are promising add-ons to stroke rehabilitation and target the modulation of brain plasticity, with several reports describing their use to be associated with conventional therapy and the improvement of therapeutic outcomes. However, more recently, some small clinical trials have been developed that describe the associated use of tDCS and robot-assisted therapy in stroke rehabilitation. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

The combined use of transcranial direct current stimulation and robotic therapy as an add-on for conventional rehabilitation therapy may result in improved therapeutic outcomes due to modulation of brain plasticity. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of ...

Neuroscience

Real-time Video Projection in an MRI for Characterization of Neural Correlates Associated with Mirror Therapy for Phantom Limb Pain

Mirror therapy (MT) has been proposed as an effective rehabilitative strategy to alleviate pain symptoms in amputees with phantom limb pain (PLP). However, establishing the neural correlates associated with MT therapy have been challenging given that it is difficult to administer the therapy effectively within a magnetic resonance imaging (MRI) scanner environment. To characterize the functional organization of cortical regions associated with this rehabilitative strategy, we have developed a combined behavioral and functional neuroimaging protocol that can be applied in participants with a leg amputation. This novel approach allows participants to undergo MT within the MRI scanner environment by viewing real-time video images captured by a camera. The images are viewed by the participant through a system of mirrors and a monitor that the participant views while lying on the scanner bed. In this manner, functional changes in cortical areas of interest (e.g., sensorimotor cortex) can be characterized in response to the direct application of MT.

We present a novel combined behavioral and neuroimaging protocol employing real-time video projection for the purpose of characterizing the neural correlates associated with mirror therapy within the magnetic resonance imaging scanner environment in leg amputee subjects with phantom limb pain.

Mirror therapy (MT) has been proposed as an effective rehabilitative strategy to alleviate pain symptoms in amputees with phantom limb pain (PLP). ...

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

A robot-assisted hand is used for the rehabilitation of patients with impaired upper limb function, particularly for stroke patients with a loss of motor control. However, it is unclear how conventional occupational training strategies can be applied to the use of rehabilitation robots. Novel robotic technologies and occupational therapy concepts are used to develop a protocol that allows patients with impaired upper limb function to grasp objects using their affected hand through a variety of pinching and grasping functions. To conduct this appropriately, we used five types of objects: a peg, a rectangular cube, a cube, a ball, and a cylindrical bar. We also equipped the patients with a robotic hand, the Mirror Hand, an exoskeleton&#160;hand that is fitted to the subject&#8217;s affected hand and follows the movement of the sensor glove fitted to their unaffected hand (bimanual movement training (BMT)). This study had two stages. Three healthy subjects were first recruited to test the feasibility and acceptability of the training program. Three patients with hand dysfunction caused by stroke were then recruited to confirm the feasibility and acceptability of the training program, which was conducted on 3 consecutive days. On each day, the patient was monitored during 5 min of movement in a passive range of motion, 5 min of robot-assisted bimanual movement, and task-oriented training using the five objects. The results showed that both healthy subjects and subjects who had suffered a stroke in conjunction with the robotic hand could successfully grasp the objects. Both healthy subjects and those who had suffered a stroke performed well with the robot-assisted task-oriented training program in terms of feasibility and acceptability.

This study reports the development of a novel robot-assisted task-oriented program for hand rehabilitation. The developmental process consists of experiments using both healthy subjects and subjects who have had a stroke and suffered from subsequent motor control dysfunction.

A robot-assisted hand is used for the rehabilitation of patients with impaired upper limb function, particularly for stroke patients with a loss of motor ...

Medicine

Therapy Interventions for Upper Limb Amputees Undergoing Selective Nerve Transfers

Targeted Muscle Reinnervation (TMR) improves the biological control interface for myoelectric prostheses after above-elbow amputation. Selective activation of muscle units is made possible by surgically re-routing nerves, yielding a high number of independent myoelectric control signals. However, this intervention requires careful patient selection and specific rehabilitation therapy. Here a rehabilitation protocol is presented for high-level upper limb amputees undergoing TMR, based on an expert Delphi study. Interventions before surgery include detailed patient assessment and general measures for pain control, muscle endurance and strength, balance, and range of motion of the remaining joints. After surgery, additional therapeutic interventions focus on edema control and scar treatment and the selective activation of cortical areas responsible for upper limb control. Following successful&#160;reinnervation of target muscles, surface electromyographic (sEMG) biofeedback is used to train the activation of the novel muscular units. Later on, a table-top prosthesis may provide the first experience of prosthetic control. After fitting the actual prosthesis, training includes repetitive drills without objects, object manipulation, and finally, activities of daily living. Ultimately, regular patient appointments and functional assessments allow tracking prosthetic function and enabling early interventions if malfunctioning.

This work presents a protocol to enhance prosthetic function after selective nerve transfer surgery. Rehabilitation interventions include patient information and selection, support of wound healing, cortical re-activation of sensory-motor areas of the upper limb, training of selective muscle activation, prosthetic handling in daily life, and regular follow-up assessments.

Targeted Muscle Reinnervation (TMR) improves the biological control interface for myoelectric prostheses after above-elbow amputation. Selective ...

Enhancing Stroke Rehabilitation with Virtual Reality-Based Occupational Training

Cognitive Function and Upper Limb Rehabilitation Training Post-Stroke Using a Digital Occupational Training System

Stroke rehabilitation often requires frequent and intensive therapy to improve functional recovery. Virtual reality (VR) technology has shown the potential to meet these demands by providing engaging and motivating therapy options. The digital occupational training system is a VR application that utilizes cutting-edge technologies, including multi-touch screens, virtual reality, and human-computer interaction, to offer diverse training techniques for advanced cognitive capacity and hand-eye coordination abilities. The objective of this study was to assess the effectiveness of this program in enhancing cognitive function and upper extremity rehabilitation in stroke patients. The training and assessment consist of five cognitive modules covering perception, attention, memory, logical reasoning, and calculation, along with hand-eye coordination training. This research indicates that after eight weeks of training, the digital occupational training system can significantly improve cognitive function, daily living skills, attention, and self-care abilities in stroke patients. This software can be employed as a time-saving and clinically effective rehabilitation aid to complement traditional one-on-one occupational therapy sessions. In summary, the digital occupational training system shows promise and offers potential financial benefits as a tool to support the functional recovery of stroke patients.

Author Spotlight: Rehabilitation of Stroke Patients With a Digital Occupational Training System

The current protocol outlines how the VR-based digital occupational training system enhances the rehabilitation of patients with cognitive impairment and upper limb dysfunction following a stroke.

Stroke rehabilitation often requires frequent and intensive therapy to improve functional recovery. Virtual reality (VR) technology has shown the ...

Brain-Computer Interface-controlled Upper Limb Robotic System for Enhancing Daily Activities in Stroke Patients

This study introduces a Brain-Computer Interface (BCI)-controlled upper limb assistive robot for post-stroke rehabilitation. The system utilizes electroencephalogram (EEG) and electrooculogram (EOG) signals to help users assist upper limb function in everyday tasks while interacting with a robotic hand. We evaluated the effectiveness of this BCI-robot system using the Berlin Bimanual Test for Stroke (BeBiTS), a set of 10 daily living tasks involving both hands. Eight stroke patients participated in this study, but only four participants could adapt to the BCI robot system training and perform the postBeBiTS. Notably, when the preBeBiTS score for each item was four or less, the BCI robot system showed greater assistive effectiveness in the postBeBiTS assessment. Furthermore, our current robotic hand does not assist with arm and wrist functions, limiting its use in tasks requiring complex hand movements. More participants are required to confirm the training effectiveness of the BCI-robot system, and future research should consider using robots that can assist with a broader range of upper limb functions. This study aimed to determine the BCI-robot system's ability to assist patients in performing daily living activities.

This study introduces a brain-computer interface (BCI) system for stroke patients, which combines electroencephalography and electrooculography signals to control an upper limb robotic hand, enhancing daily activities. The evaluation used the Berlin Bimanual Test for Stroke (BeBiTS).

This study introduces a Brain-Computer Interface (BCI)-controlled upper limb assistive robot for post-stroke rehabilitation. The system utilizes ...

Integrated Robotic and Conventional Therapy for Post-Stroke Upper Limb Recovery

Enhancing Upper Limb Function and Motor Skills Post-Stroke Through an Upper Limb Rehabilitation Robot

Cerebrovascular accidents, commonly known as strokes, represent a prevalent neurological event leading to significant upper limb disabilities, thereby profoundly affecting individuals' activities of daily living and diminishing their quality of life. Traditional rehabilitation methods for upper limb recovery post-stroke are often hindered by limitations, including therapist and patient fatigue, reliance on singular training methodologies, and lack of sustained motivation. Addressing these challenges, this study introduces an upper limb rehabilitation robot, which uses intelligent feedback motion control to improve therapeutic outcomes. The system is distinguished by its capability to adjust the direction and magnitude of force feedback dynamically, based on the detection of spastic movements during exercises, thereby offering a tailored therapeutic experience. This system is equipped with four distinct training modes, intelligent assessment of joint range of motion, and the ability to personalize training programs. Moreover, it provides an immersive interactive gaming experience coupled with comprehensive safety measures. This multifaceted approach not only elevates the engagement and interest of participants beyond traditional rehabilitation protocols but also demonstrates significant improvements in upper limb functionality and the activities of daily living among hemiplegic patients. The system exemplifies an advanced tool in upper limb rehabilitation, offering a synergistic blend of precision, personalization, and interactive engagement, thereby broadening the therapeutic options available to stroke survivors.

Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes

This protocol describes an upper limb rehabilitation robot that provides intelligent feedback through four modes. These modes enhance upper limb function and flexibility, thereby improving patients' quality of life.

Cerebrovascular accidents, commonly known as strokes, represent a prevalent neurological event leading to significant upper limb disabilities, thereby ...

Dual Upper Limb Robotic Training in Stroke Rehabilitation

Application of a Dual Upper Limb Task-Oriented Robotic System for the Functional Recovery of the Upper Limb in Stroke Patients

Highly repetitive and task-oriented training has been shown to promote the recovery of limb function in stroke patients. Additionally, bilateral arm training can help stroke survivors regain their upper limb function and improve their daily activities. The dual upper limb task-oriented robotic system is designed to assist the healthy side of the stroke patient in driving the affected side to perform bilateral arm training through the use of a robotic device. It can also guide the patient in carrying out dual upper limb coordinated movements and engage them in a task-oriented virtual game using force feedback and human-computer interaction technology. This study aimed to assess the efficacy of the system in enhancing upper limb function and activities of daily living in stroke patients. The assessment methods used included motor evoked potential (MEP), functional test for the hemiplegic upper extremity-Hong Kong (FTHUE-HK), Fugl-Meyer Assessment Upper Extremity Scale (FMA-UE), and modified Barthel index (MBI). The results of the study indicate that the dual upper limb task-oriented robotic system can significantly improve the corticospinal pathway, upper limb function, and activities of daily living in stroke patients after 6 weeks of treatment. This system can serve as an effective adjunct to upper limb functional rehabilitation in stroke survivors, reducing the dependence on rehabilitation therapists. In conclusion, the dual upper limb task-oriented robotic system provides a new strategy for post-stroke limb functional rehabilitation and holds great potential for application, as it offers certain social and financial benefits.

Author Spotlight: Enhancing Upper Limb Rehabilitation in Stroke Patients Through Advanced Robotic and Neuromodulation Technologies

This experimental protocol outlines the use of a dual upper limb task-oriented robotic system for stroke patients with upper limb dysfunction. The findings indicate that this system can significantly improve stroke patients' upper limb function and daily living activities.

Highly repetitive and task-oriented training has been shown to promote the recovery of limb function in stroke patients. Additionally, bilateral arm ...

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Samenvatting

Meer video's verkennen

Hoofdstukken in deze video