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Figure 4 | Journal of NeuroEngineering and Rehabilitation

Figure 4

From: Assessment-driven selection and adaptation of exercise difficulty in robot-assisted therapy: a pilot study with a hand rehabilitation robot

Figure 4

Results of the robotic assessments A1-A3 during the pre assessment (week 0). Top: pronosupination (left) and grasping aperture (right) range of motion. Bottom: Patient-wise evolution of the presented stimulus differences Δd and Δ k % to assess proprioception during hand opening/closing and haptic perception during grasping. Presented stimulus levels are adaptively selected by the PEST algorithm and converge to the smallest perceptible difference. Four assessment runs did not converge within the predefined time constraint of 20 minutes and are indicated with a cross (x) for the last trial. Healthy performance is indicated with dashed lines for comparison (forearm pronation 70°, forearm supination -85° [38], distance DL = 1 mm [35], stiffness WF = 7 %[37]), except for translational ROM, which depends on the hand size.

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