Effects of Robot Viscous Forces on Arm Movements in Chronic Stroke Survivors: A Randomized Crossover Study

Abstract

Background: Our previous work showed that speed is linked to the ability torecover in chronic stroke survivors. Participants moving faster on the rst day of a three-week study had greater improvements on the Wolf Motor Function Test.Methods: We examined the eects of three candidate speed-modifying elds in a crossover design: negative viscosity, positive viscosity, and a "breakthrough" force that vanishes after speed exceeds an individualized threshold.Results: Negative viscosity resulted in a signicant speed increase when it was on. No lasting after eects on movement speed were observed from any of these treatments, however, training with negative viscosity led to signicant improvements in movement accuracy and smoothness.Conclusions: Our results suggest that negative viscosity could be used as a treatment to augment the training process while still allowing participants to make their own volitional motions in practice. Trial registration: This study was approved by the Institutional Review Boards at Northwestern University (STU00206579) and the University of Illinois at Chicago (2018-1251).