http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=7146701&
Here we investigate whether torque or myoelectric control was more
efficient during active, robotic-assisted therapy. Eleven hemiparetic
stroke patients employed the RehaArm-robot, which consist of an
exoskeleton that supports the entire arm and measures in real time the
joint position and moment of the shoulder, in four sessions of one hour
on consecutive days. At each session, the patients repeatedly performed
basic movements of the shoulder in passive and active mode. During the
passive mode, subjects learnt the movements. During the active mode,
subjects were asked to complete 40 task repetitions in 20 min for each
modality, torque and myoelectric control. The number of repetitions
achieved, completion rate (CR), was tracked for each control modality as
well as subjects' opinion about the ease of use of each modality. The
results showed that the severe-to-moderate group (Fugl-Meyer Motor
Assessment of the Upper Extremity<=40) achieved a significantly
higher CR in myoelectric control than in torque control (p<0.05). For
the mild group (>40), the CR was very similar for both control
modalities. Subjectively, the two groups considered both control
modalities similarly easy to use, being the myoelectric control slightly
easier (higher median and middle fifty values). These results support
the higher efficacy of the myoelectric control for active,
robotic-assisted therapy.
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