BackgroundHome-based robotic technologies may offer the possibility of self-directed upper limb exercise after stroke as a means of increasing the intensity of rehabilitation treatment. The current literature has a paucity of robotic devices that have been tested in a home environment. The aim of this research project was to evaluate a robotic device Home-based Computer Assisted Arm Rehabilitation (hCAAR) that can be used independently at home by stroke survivors with upper limb weakness.MethodshCAAR device comprises of a joystick handle moved by the weak upper limb to perform tasks on the computer screen. The device provides assistance to the movements depending on users ability. Nineteen participants (stroke survivors with upper limb weakness) were recruited. Outcome measures performed at baseline (A0), at end of 8-weeks of hCAAR use (A1) and 1 month after end of hCAAR use (A2) were: Optotrak kinematic variables, Fugl Meyer Upper Extremity motor subscale (FM-UE), Action Research Arm Test (ARAT), Medical Research Council (MRC) and Modified Ashworth Scale (MAS), Chedoke Arm and Hand Activity Inventory (CAHAI) and ABILHAND.ResultsTwo participants were unable to use hCAAR: one due to severe paresis and the other due to personal problems. The remaining 17 participants were able to use the device independently in their home setting. No serious adverse events were reported. The median usage time was 433 minutes (IQR 250 – 791 min). A statistically significant improvement was observed in the kinematic and clinical outcomes at A1. The median gain in the scores at A1 were by: movement time 19%, path length 15% and jerk 19%, FM-UE 1 point, total MAS 1.5 point, total MRC 2 points, ARAT 3 points, CAHAI 5.5 points and ABILHAND 3 points. Three participants showed clinically significant improvement in all the clinical outcomes.ConclusionsThe hCAAR feasibility study is the first clinical study of its kind reported in the current literature; in this study, 17 participants used the robotic device independently for eight weeks in their own homes with minimal supervision from healthcare professionals. Statistically significant improvements were observed in the kinematic and clinical outcomes in the study.Electronic supplementary materialThe online version of this article (doi:10.1186/1743-0003-11-163) contains supplementary material, which is available to authorized users.

Advances in direct mechanical ventricular actuation devices have been limited by the inability to test the whole device interaction in-vitro. In this study, we introduce a novel technique to produce a realistic, multimodality cardiovascular simulator to mimic the activity of a beating heart. To achieve the mechanical representation of the heart, each ventricle was defined by a real-time modifiable semicircular pattern of post-buckled spring steel strips with adjustable boundary attachments. The mechanical properties of these strips such as stiffness, length, width and boundary conditions approximated the local and global biomechanical properties of the native heart. This physical heart model interfaced with a mathematical model of the cardiovascular system based on hardware-in-the-loop simulation. In-vitro experiments were carried out in an attempt to investigate into the effect that the DMVA system has on PV loop, cardiac output, and overall hemodynamics under different physiological conditions. By employing this in-vitro setting, assist devices can be physically applied to the circulatory models and assessed before animal or clinical trials are conducted. This will significantly aid device behavioural understanding, development time and cost during device's prototyping.

Heart disease is the developed world's largest killer. Transplantation of the failing heart remains the most effective treatment currently employed, but demand far exceeds donor supply. In a bid to address this imbalance, the use of mechanical circulatory support has been explored since the mid-1960s. This paper utilizes one such device, which achieves assistance by mechanically compressing the epicardial surface of the failing heart. The circumferential normal loading of the device is investigated, showing how frictional effects inherent to the device's operation affect localized surface pressure. Results showed that as distance from the device's actuator increased, assistive systolic force reduced, whilst device constriction to ventricular filling detrimentally increased. Active device relaxation was shown to limit the diastolic effect outlined above, providing the simulated diseased heart with an improved cardiac output. The results also raise questions concerning device in-vivo positioning and short-comings with the current heart simulator.

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