A Plug-and-Train Robotic Kit (PLUTO) For Hand Rehabilitation: Pilot Usability Study

Nehrujee, Aravind; Andrew, Hallel; Reetajanetsurekha,; Patricia, Ann; Samuelkamaleshkumar, Selvaraj; Prakash, Henry; Sujatha, S.; Balasubramanian, Sivakumar

doi:10.1109/biorob49111.2020.9224369

Cited by 6 publications

(9 citation statements)

References 22 publications

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“…The AAN algorithm updates the assistance Τ ( ) for the target on a trial-by-trial basis depending on whether a subject can consistently reach the target . The detailed algorithm of the AAN controller is provided in [48].…”

Section: Assist-as-needed (Aan) Controllermentioning

confidence: 99%

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Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

Nehrujee¹,

Andrew

Reethajanetsurekha

et al. 2021

IEEE Access

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Hand neurorehabilitation involves training movements at the forearm, wrist, fingers, and thumb joints. Assisted training of all these joints requires either one complex multiple degree-of-freedom (DOF) robot or a set of simple robots with one or two DOF. Neither of these is economic or clinically viable. This paper addresses this problem with the PLUg and train rObot (PLUTO)-a single DOF robot that can train multiple joints one at a time. PLUTO has a single actuator with a set of passive attachments/mechanisms that can be easily attached/detached to train for wrist flexion-extension, wrist ulnar-radial deviation, forearm pronation-supination, and gross hand opening-closing. The robot can provide training in active and assisted regimes. PLUTO is linked to performance adaptive computer games to provide feedback to the patients and motivate them during training. As the first step towards clinical validation, the device usability was evaluated by 45 potential stakeholders/end-users of the device, including 15 patients, 15 caregivers, and 15 clinicians with standardized questionnaires: System Usability Scale (SUS) and User Experience Questionnaire (UEQ). Patients and caregivers were administered the questionnaire after a two-session training with the robot. Clinicians, on the other hand, had a single session demo, after which feedback was obtained. The total SUS score obtained from patients, clinicians, and caregivers was 73.3 ± 14.6 (n = 45), indicating good usability. The UEQ score was rated positively in all subscales by both patients and clinicians, indicating that the features of PLUTO match their expectations. The positive response from the preliminary testing and the feedback from the stakeholders indicate that with additional passive mechanisms, assessment features, and optimized ergonomics, PLUTO will be a versatile, affordable, and useful system for hand rehabilitation.

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Section: Assist-as-needed (Aan) Controllermentioning

confidence: 99%

“…The focus of the current work was to showcase and highlight some of the use cases of a simple, single actuator system for hand neurorehabilitation. Part of this work was submitted to the BioRob2020 conference [48].…”

Section: Introductionmentioning

confidence: 99%

Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

Nehrujee¹,

Andrew

Reethajanetsurekha

et al. 2021

IEEE Access

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“…(1), while the assisted training mode is implemented by setting an appropriate non-zero ( ); the robot can also resist movements, but this was not implemented. Assist-as-needed (AAN) controller: The AAN controller [23] minimally assist a patient in reaching targets outside his/her active range of motion (AROM). This is implemented on top of the torque controller through a simple rule that learns a userspecific map � = Τ ( )� between target locations and the assistance torque required to reach these targets.…”

Section: Robot Firmwarementioning

confidence: 99%

Section: Robot Firmwarementioning

confidence: 99%

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A Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

Nehrujee

Andrew

Patricia

et al. 2020

Preprint

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Hand neurorehabilitation involves the training of movements at various joints of the forearm, wrist, fingers, and thumb. Assisted training of all these joints either requires either one complex multiple degree-of-freedom (DOF) robot or a set of simple robots with one or two DOF. Both of these are not economically or clinically viable solutions. The paper presents work that addresses this problem with a single DOF robot that can train multiple joints one at a time – the plug and train robot (PLUTO). PLUTO has a single actuator with a set of passive attachments/mechanisms that can be easily attached/detached to train for wrist flexion-extension, wrist ulnar-radial deviation, forearm pronation-supination, and gross hand opening-closings. The robot can provide training in active and assisted regimes. PLUTO is linked to performance adaptive computer games to provide feedback to the patients and motivate them during training. As the first step toward clinical validation, the device's usability was evaluated in 45 potential stakeholders/end-users of the device, including 15 patients, 15 caregivers, and 15 clinicians with standardized questionnaires: System Usability Scale (SUS) and User Experience Questionnaire (UEQ). Patients and caregivers were administered the questionnaire after a two-session training. Clinicians, on the other hand, had a single session demo after which feedback was obtained. The total SUS score obtained from the patients, clinicians, and healthy subjects was 73.3 ± 14.6 (n = 45), indicating good usability. The UEQ score was rated positively in all subscales by both the patients and clinicians, indicating that the features of PLUTO match their expectations. The positive response from the preliminary testing and the feedback from the stakeholders indicates that with additional passive mechanisms, assessment features, and optimized ergonomics, PLUTO will be a versatile, affordable, and useful system for routine use in clinics and also patients’ homes for delivering minimally supervised hand therapy.

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Considerations for at-home upper-limb rehabilitation technology following stroke: Perspectives of stroke survivors and therapists

Forbrigger

Liblong

Davies

et al. 2023

Journal of Rehabilitation and Assistive Technologies Engineerin

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Introduction This study investigated the needs of stroke survivors and therapists, and how they may contrast, for the design of robots for at-home post stroke rehabilitation therapy, in the Ontario, Canada, context. Methods Individual interviews were conducted with stroke survivors ( n = 10) and therapists ( n = 6). The transcripts were coded using thematic analysis inspired by the WHO International Classification of Functioning, Disability, and Health. Results Design recommendations, potential features, and barriers were identified from the interviews. Stroke survivors and therapists agreed on many of the needs for at-home robotic rehabilitation; however, stroke survivors had more insights into their home environment, barriers, and needs relating to technology, while therapists had more insights into therapy methodology and patient safety and interaction. Both groups felt a one-size-fits-all approach to rehabilitation robot design is inappropriate. Designs could address a broader range of impairments by incorporating household items and breaking activities down into their component motions. Designs should incorporate hand and wrist supports and activities. Designs should monitor trunk and shoulder motion and consider incorporating group activities. Conclusion While therapists can provide insight in the early stages of design of rehabilitation technology, stroke survivors’ perspectives are crucial to designing for the home environment.

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A Plug-and-Train Robotic Kit (PLUTO) For Hand Rehabilitation: Pilot Usability Study

Cited by 6 publications

References 22 publications

Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

A Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

Considerations for at-home upper-limb rehabilitation technology following stroke: Perspectives of stroke survivors and therapists

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