Analysis of reaching movements of upper arm in robot assisted exercises: Kinematic assessment of Robot assisted upper arm reaching single-joint movements

Luigi Iuppariello, Giovanni D'Addio, Maria Romano, Paolo Bifulco, Bernardo Lanzillo, Nicola Pappone, Mario Cesarelli

Research output: Contribution to journalArticle

Abstract

Robot-mediated therapy (RMT) has been a very dynamic area of research in recent years. Robotics devices are in fact capable to quantify the performances of a rehabilitation task in treatments of several disorders of the arm and the shoulder of various central and peripheral etiology. Different systems for robot-aided neuro-rehabilitation are available for upper limb rehabilitation but the biomechanical parameters proposed until today, to evaluate the quality of the movement, are related to the specific robot used and to the type of exercise performed. Besides, none study indicated a standardized quantitative evaluation of robot assisted upper arm reaching movements, so the RMT is still far to be considered a standardised tool. In this paper a quantitative kinematic assessment of robot assisted upper arm reaching movements, considering also the effect of gravity on the quality of the movements, is proposed. We studied a group of 10 healthy subjects and results indicate that our advised protocol can be useful for characterising normal pattern in reaching movements.

Original languageEnglish
Pages (from-to)116-127
Number of pages12
JournalGiornale Italiano di Medicina del Lavoro ed Ergonomia
Volume38
Issue number2
Publication statusPublished - Apr 1 2016

Keywords

  • Activity daily living
  • Bell-shaped
  • Gravity
  • Kinematic
  • Minimum jerk
  • Reaching-movements
  • Rehabilitation
  • Robot-mediated-lherapy
  • Smoothness
  • Upper limb

ASJC Scopus subject areas

  • Public Health, Environmental and Occupational Health

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