Colombo Roberto, Cusmano Ivana, Sterpi Irma, Mazzone Alessandra, Delconte Carmen, Pisano Fabrizio
IEEE Trans Neural Syst Rehabil Eng. 2014 Sep;22(5):1020-9. doi: 10.1109/TNSRE.2014.2306571. Epub 2014 Feb 20.
Rehabilitation robots have built-in technology and sensors that allow accurate measurement of movement kinematics and kinetics, which can be used to derive measures related to upper limb performance and highlight changes in motor behavior due to rehabilitation. This study aimed to assess the test-retest reliability of some robot-measured parameters by analyzing their intra-session and inter-session (day-by-day) variability. The study was carried out in two groups: 31 patients after stroke and 15 healthy subjects. Both groups practiced two different motor tasks consisting of point-to-point reaching movements in the shape of two geometrical figures that were selected for the assessment of global and directional (eight directions of the workspace) test-retest reliability. The reliability of six parameters measuring movement velocity, accuracy, efficiency and smoothness was assessed intra-session and inter-session by the ICC, SEM, and CV. Healthy subjects exhibited very high ICC values (> 0.85) and low SEM for all parameters. Patients had high ICC values and low SEM but their global reliability was generally lower compared to healthy subjects. In addition, their inter-session reliability showed very high ICC values (> 0.91) and low SEM for all parameters. Direction analysis showed that in some parameters the reliability was generally high but not homogeneous in all directions. In addition, some directions showed systematic error. This study demonstrates that robot-measured parameters are reliable and can be considered ideal candidates for use in combination with impairment and functional clinical scales to evaluate motor improvement during robot-assisted neurorehabilitation.
康复机器人内置了相关技术和传感器，能够精确测量运动学和动力学，这些测量结果可用于得出与上肢功能相关的指标，并突出康复训练导致的运动行为变化。本研究旨在通过分析机器人测量参数在单次训练内和不同训练之间（逐日）的变异性，评估这些参数的重测信度。该研究分为两组进行：31名中风后患者和15名健康受试者。两组都进行了两项不同的运动任务，包括以两个几何图形的形状进行点对点的伸手动作，这些动作被选来评估整体和方向（工作空间的八个方向）的重测信度。通过组内相关系数（ICC）、测量标准误（SEM）和变异系数（CV），在单次训练内和不同训练之间评估了测量运动速度、准确性、效率和平滑度的六个参数的信度。健康受试者所有参数的ICC值都非常高（> 0.85）且SEM值较低。患者的ICC值较高且SEM值较低，但与健康受试者相比，他们的整体信度通常较低。此外，他们不同训练之间的信度显示所有参数的ICC值都非常高（> 0.91）且SEM值较低。方向分析表明，在某些参数中，信度总体较高，但在所有方向上并不均匀。此外，某些方向存在系统误差。本研究表明，机器人测量的参数是可靠的，可被视为与损伤和功能临床量表结合使用的理想选择，以评估机器人辅助神经康复过程中的运动改善情况。
