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BioMed Research International
Volume 2015, Article ID 482389, 7 pages
Research Article

Use of a Robotic Device for the Rehabilitation of Severe Upper Limb Paresis in Subacute Stroke: Exploration of Patient/Robot Interactions and the Motor Recovery Process

1CRF Les Trois Soleils, Médecine Physique et de Réadaptation, Unité de Rééducation Neurologique, 77310 Boissise-le-Roi, France
2Analyse et Restauration du Mouvement, Groupe Hospitalier Henri Mondor, Rééducation Neurolocomotrice, AP-HP, 94010 Créteil, France

Received 20 June 2014; Revised 28 September 2014; Accepted 4 October 2014

Academic Editor: Giorgio Ferriero

Copyright © 2015 Christophe Duret et al. 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.


This pioneering observational study explored the interaction between subacute stroke inpatients and a rehabilitation robot during upper limb training. 25 stroke survivors (age years; time since stroke, days) with severe upper limb paresis carried out 16 sessions of robot-assisted shoulder/elbow training (InMotion 2.0, IMT, Inc., MA, USA) combined with standard therapy. The values of 3 patient/robot interaction parameters (a guidance parameter: Stiffness, a velocity-related parameter: Slottime, and Robotic Power) were compared between sessions 1 (S1), 4 (S4), 8 (S8), 12 (S12), and 16 (S16). Pre/post Fugl-Meyer Assessment (FMA) scores were compared in 18 patients. Correlations between interaction parameters and clinical and kinematic outcome measures were evaluated. Slottime decreased at S8 , while Guidance decreased at S12 . Robotic Power tended to decrease until S16. FMA scores improved from S1 to S16 (+49%, ). Changes in FMA score were correlated with the Stiffness parameter (, ). Slottime was correlated with movement velocity. This novel approach demonstrated that a robotic device is a useful and reliable tool for the quantification of interaction parameters. Moreover, changes in these parameters were correlated with clinical and kinematic changes. These results suggested that robot-based recordings can provide new insights into the motor recovery process.