We designed a new surface multi-pad electrode for the electrical stimulation of the forearm that is effective in controlling functional grasp in hemiplegic patients. The electrode shape and size were designed on the basis of the surface stimulation map of the forearm, determined from measurements in seven hemiplegic patients who had limited or absent voluntary movements of the fingers, thumb and wrist. The stimulation map for each patient was assessed with a conventional set of single pad Pals Platinum electrodes. Since the sites for the stimulation varied greatly between patients, the end result was a rather large multi-pad electrode. Modulating multi-pad electrode size, shape, position and individual pad stimulation parameters allows us to accommodate the diversity of the neural tissues in patients that need to be activated for functional grasp. This also allows asynchronous activation of different portions of the muscle and dynamic adaptation of the stimulation sites to appropriate underlying tissues during functional use. The validity of the determined stimulation map was tested in the same group of hemiplegic patients. The selected set of active pads resulted in fully functional and reproducible palmar and lateral grasps similar to healthy-like grasps.
We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.
In this paper we present the method for WiiMote position control in order to gain motivational feedback in stroke patients who need to train their arm movements. Developed software acts as interface between input system, such as a computer mouse, which patients could use in rehabilitation, and custom made robotized system for controlling of WiiMote. With this software it is possible to transform any therapy prescribed movements into controls of WiiMote, so Nintendo Wii game could be played successfully.
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