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Fig. 1 | BioMedical Engineering OnLine

Fig. 1

From: Motor improvement estimation and task adaptation for personalized robot-aided therapy: a feasibility study

Fig. 1

Experimental setup and protocols. a Schematic overview of experimental setup. b Design of the three-dimensional point-to-point reaching task. Eighteen targets (representing the different subtasks) are positioned over a sphere of 19 cm of radius (equally distributed on the three planes). The empty circle represents the center of the workspace (starting position). c Experimental protocol for healthy participants. Experiments were completed in a single session and were divided into blocks (one initial assessment block AI,1–3, five inversion blocks B1–5, one final assessment block AF,1–3). The assessment blocks consisted of three runs, each composed of 18 reaching movements (one towards each target). The inversion blocks consisted of five runs, each composed of eight reaching movements. The training targets for the inversion blocks were automatically selected by the implemented personalization routine. Breaks were allowed between the blocks to prevent fatigue. d Experimental protocol for the patient. During the initial (AI,1–2) and final (AF,1–2) assessment sessions, all 18 targets were presented to the patient. For each treatment session eight training targets were selected by the implemented personalization routine. The total number of repetitions performed in each session was determined by the physical therapist. e Schematic overview of the different steps performed for the adaptive scheduling of the reaching task with vision inversion for healthy participants and the reaching task without vision inversion for patients

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