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Applied Bionics and Biomechanics
Volume 8 (2011), Issue 1, Pages 39-54

Biomechanical Assessment of Reaching Movements in Post-Stroke Patients During a Robot-Aided Rehabilitation

S. Mazzoleni,1 F. Posteraro,2 M. Filippi,1 F. Forte,2 S. Micera,1,3,4 P. Dario,1 and M. C. Carrozza1

1The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
2Neurological Rehabilitation Unit, Auxilium Vitae Rehabilitation Center, Volterra, Italy
3Neuroprosthesis Control Group, Institute for Automation, Swiss Federal Institute of Technology Zurich (ETHZ), Zurich, Switzerland
4Rehabilitation Institute and Technology Center Zurich, Zurich, Switzerland

Copyright © 2011 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The main goal of this paper is to describe a method for the assessment of the motor performance in post-stroke subjects who have been undergone a robot-aided upper limb rehabilitation treatment. The motivation for adopting such methodology relies on the need of quantitative methods for the evaluation of the effects of robot-aided rehabilitation treatments, which assumes great importance from the clinical point of view. The method is based on the analysis of biomechanical parameters computed from force data recorded during the execution of planar reaching movements. Data from 17 chronic post-stroke patients and 5 healthy subjects were analysed. The results show the effectiveness of the proposed method, which can contribute to quantitatively evaluate the effects of a robot-mediated therapy on the upper limb of chronic post-stroke subjects.