Training and assessment of upper limb motor function with a robotic exoskeleton after stroke

This paper presents the results of the evaluation training performed in a group of chronic stroke patients with Light-Exoskeleton device. The rehabilitation treatment included passive, assisted and active reaching exercises based on a impedance control strategy with gain modulated by the patient's ability to perform the task. The effects of training were assessed both by means of clinical evaluation in terms of Fugl-Meyer and Modified Ashworth assessment scales, and of functional evaluation, by means of Bimanual Activity test. Moreover, at each session an automatic assessment of performance was made through two robotic measures (task time and smoothness of movement), and these were analysed in term of correlation with the outcome of functional evaluation. Interestingly we found a significant improvement of both clinical and functional evaluation, and that the automatic assessment performed by the robot in terms of smoothness represents a strong predictor of transfer of functional ability to activity of every day life. The high correlation observed between functional outcome and robotic measures suggest the last ones can provide a rapid and useful feedback about the patient's recovery progress, in addition to the pre- and post- clinical and functional measurements.