Motor Learning and Neurorehabilitation Laboratory, ARTORG Center for Biomedical Engineering Research, University of Bern, Bern, Switzerland.
Force Dimension, Nyon, Switzerland.
J Neuroeng Rehabil. 2024 Sep 27;21(1):172. doi: 10.1186/s12984-024-01439-1.
There is currently a lack of easy-to-use and effective robotic devices for upper-limb rehabilitation after stroke. Importantly, most current systems lack the provision of somatosensory information that is congruent with the virtual training task. This paper introduces a novel haptic robotic system designed for upper-limb rehabilitation, focusing on enhancing sensorimotor rehabilitation through comprehensive haptic rendering.
We developed a novel haptic rehabilitation device with a unique combination of degrees of freedom that allows the virtual training of functional reach and grasp tasks, where we use a physics engine-based haptic rendering method to render whole-hand interactions between the patients' hands and virtual tangible objects. To evaluate the feasibility of our system, we performed a clinical mixed-method usability study with seven patients and seven therapists working in neurorehabilitation. We employed standardized questionnaires to gather quantitative data and performed semi-structured interviews with all participants to gain qualitative insights into the perceived usability and usefulness of our technological solution.
The device demonstrated ease of use and adaptability to various hand sizes without extensive setup. Therapists and patients reported high satisfaction levels, with the system facilitating engaging and meaningful rehabilitation exercises. Participants provided notably positive feedback, particularly emphasizing the system's available degrees of freedom and its haptic rendering capabilities. Therapists expressed confidence in the transferability of sensorimotor skills learned with our system to activities of daily living, although further investigation is needed to confirm this.
The novel haptic robotic system effectively supports upper-limb rehabilitation post-stroke, offering high-fidelity haptic feedback and engaging training tasks. Its clinical usability, combined with positive feedback from both therapists and patients, underscores its potential to enhance robotic neurorehabilitation.
目前，缺乏易于使用且有效的用于中风后上肢康复的机器人设备。重要的是，目前大多数系统缺乏与虚拟训练任务相一致的体感信息。本文介绍了一种用于上肢康复的新型触觉机器人系统，重点通过全面的触觉呈现来增强感觉运动康复。
我们开发了一种具有独特自由度组合的新型触觉康复设备，允许对功能性伸手和抓握任务进行虚拟训练，我们使用基于物理引擎的触觉呈现方法来呈现患者手部与虚拟有形物体之间的全手交互。为了评估我们系统的可行性，我们与 7 名神经康复治疗师和 7 名患者一起进行了一项混合方法的临床可用性研究。我们使用标准化问卷收集定量数据，并对所有参与者进行半结构化访谈，以深入了解他们对我们技术解决方案的可用性和实用性的看法。
该设备展示了易用性和对各种手型的适应性，无需进行大量设置。治疗师和患者的满意度都很高，该系统促进了引人入胜且有意义的康复锻炼。参与者提供了非常积极的反馈，特别是强调了系统的可用自由度及其触觉呈现能力。治疗师对从我们的系统中学习到的感觉运动技能在日常生活活动中的可转移性表示有信心，但需要进一步的研究来证实这一点。
新型触觉机器人系统有效地支持中风后上肢康复，提供高保真触觉反馈和引人入胜的训练任务。其临床可用性以及治疗师和患者的积极反馈都强调了它在增强机器人神经康复方面的潜力。
