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Modifying upper-limb inter-joint coordination in healthy subjects by training with a robotic exoskeleton.

Tommaso Proietti1, Emmanuel Guigon2, Agnès Roby-Brami2

  • 1Sorbonne Universités, UPMC Univ. Paris 06, CNRS, UMR 7222, INSERM, the Institute of Intelligent Systems and Robotics (ISIR), 4 place Jussieu, Paris, 75005, France. proietti@isir.upmc.fr.

Journal of Neuroengineering and Rehabilitation
|June 14, 2017
PubMed
Summary

This study shows that robotic exoskeletons can alter upper-limb coordination in healthy individuals by applying joint-level force fields. These changes persist after perturbation, suggesting potential for neurorehabilitation of stroke survivors.

Keywords:
Force fields adaptationMotor coordination learningMotor redundancyRehabilitation roboticsUpper-limb robotic exoskeletons

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Area of Science:

  • Robotics
  • Neuroscience
  • Biomechanics

Background:

  • Modifying pathological upper-limb coordination in stroke survivors is crucial for neurorehabilitation.
  • Robot-assisted training may enhance motor recovery in hemiparetic patients.
  • Existing research often focuses on planar end-effector adaptation, neglecting 3D movement and inter-joint coordination.

Purpose of the Study:

  • To investigate how the human central nervous system adapts to altered upper-limb coordination during 3D movements using a robotic exoskeleton.
  • To explore the effects of joint-level, velocity-dependent force fields on pointing and tracking tasks.
  • To analyze the adaptation and generalization of motor strategies in response to perturbations.

Main Methods:

  • Twenty healthy participants performed 3D pointing and tracking tasks with a 4-DOF robotic arm exoskeleton.
  • Inter-joint velocity-dependent force fields were applied at the joint level, perturbing coordination without directly constraining end-effector movement.
  • Kinematic analysis (end-point and joint levels), final posture measurements, and principal component analysis (PCA) of inter-joint coordination were used.

Main Results:

  • Perturbing force fields induced kinematic modifications at joint, end-effector, and inter-joint coordination levels.
  • Adaptation to force fields occurred in only 21% of movements, but post-effects (persistence of modified coordination) were observed in 86% of cases during wash-out and follow-up.
  • Generalization of altered coordination was observed for unexposed targets, with significant inter-individual differences.

Conclusions:

  • This study provides the first quantified characterization of modified upper-limb coordination in healthy subjects using joint-level viscous force fields.
  • The observed persistence and generalization of altered coordination suggest potential for robot-assisted neurorehabilitation strategies.
  • These findings could inform the development of robotic interventions to retrain pathological arm synergies in stroke survivors.