The objective of this study is to examine the effect of gravity compensation training on reaching and underlying changes in muscle activation. In this clinical trial, eight chronic stroke patients with limited arm function received 18 sessions (30 min) of gravity-compensated reach training (during 6 weeks) in combination with a rehabilitation game. Before and after training, unsupported reach (assessing maximal distance, joint angles and muscle activity of eight shoulder and elbow muscles) and the Fugl-Meyer assessment were compared. After training, the maximal reach distance improved significantly by 3.5% of arm length, together with increased elbow extension (+9.2°) and increased elbow extensor activity (+68%). In some patients, a reduced cocontraction of biceps and anterior deltoid was also involved, although this was not significant on group level. Improvements in unsupported reach after gravity compensation training in chronic stroke patients with mild to severe hemiparesis were mainly accompanied by increased activation of prime movers at the elbow, although in some patients, improved selective joint control may also have been involved. Gravity compensation seems to be a suitable way to provide active, task-specific treatment, without the need for high-tech devices. Further research on a larger scale, including control groups and combinations of arm support with functional hand training, is essential to enhance the potential of arm support to complement poststroke arm rehabilitation.
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http://dx.doi.org/10.1097/MRR.0b013e328353e3f1 | DOI Listing |
PLoS Comput Biol
January 2025
Biorobotics Laboratory, EPFL, Lausanne, Switzerland.
Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itself comprised of several interactive components, from the brain mainly conducting motor planning, to the spinal cord (SC) implementing its own motor control centres through sensory reflexes. Nevertheless, it remains unclear whether similar movements in various environmental dynamics necessitate adapting modulation at the brain level, correcting modulation at the spinal level, or both.
View Article and Find Full Text PDFFront Bioeng Biotechnol
December 2024
Center for Healthcare Robotics, Korea Institute of Science and Technology, Seoul, Republic of Korea.
Introduction: During tasks like minimally invasive surgery (MIS), various factors can make working environment not be ergonomic, and those situations will accumulate fatigue in the surgeon's muscles which will inevitably lead to poor surgical performance. Therefore, there has been a need for technical solutions to solve this problem and one of the methods is exoskeleton robots.
Methods: We designed a passive shoulder exoskeleton whose workspace could be used for MIS to assist the surgeon's movements and performed computational and clinical validation.
PLoS One
December 2024
Department of Psychology, University of Jaén, Jaén, Spain.
PeerJ Comput Sci
November 2024
University Center for Exact Sciences and Engineering, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico.
This article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error features in the image of a camera. Conventional eye-in-hand VS requires the inversion of a Jacobian matrix, which can become rank deficient, provoking kinematic singularities.
View Article and Find Full Text PDFSci Rep
November 2024
School of Economics and Management, Fuzhou University, Fuzhou, Fujian, 350108, China.
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