Millions of people worldwide suffer from stroke each year. One way to assist patients cost-effectively during their rehabilitation process is using end-effector-based robot-assisted rehabilitation. Such systems allow patients to use their own movement strategies to perform a movement task, which encourages them to do self-motivated training but also allow compensation movements if they have problems executing the movement tasks. Therefore, a patient supervision system was developed on the basis of inertial measurement units and a patient-tailored movement interpretation system. Very light and small inertial measurement units were developed to record the patients’ movements during a teaching phase in which the desired movement is shown to the patient by a physiotherapist. During a following exercise phase, the patient is training the previously shown movement alone with the help of an end-effector-based robot-assisted rehabilitation system, and the patient’s movement is recorded again. The data from the teaching and exercise phases are compared with each other and evaluated by using fuzzy logic tailored to each patient. Experimental tests with one healthy subject and one stroke patient showed the capability of the system to supervise patient movements during the robot-assisted end-effector-based rehabilitation.
The authors gratefully acknowledge the support of the KUKA Laboratories, Augsburg, Germany.
 Bergamo MF, Disselhorst-Klug C. Methods and instruments: methods in movement analysis quantitative evaluation of patient’s individual functional recovery after knee endoprosthesis. 23rd Congress of the International Society of Biomechanics 2011.Search in Google Scholar
 Bergamo F, Niethard FU, Borowski-Mashi I, Disselhorst-Klug C. Impact of additional standardized resistive training on recovery of muscular co-ordination after knee endoprosthesis. 19th Congress of the International Society of Electrophysiology and Kinesiology 2012.Search in Google Scholar
 Bütefisch C. Repetitive training of isolated movements improves the outcome of motor rehabilitation of the centrally paretic hand. J Neurol Sci 1995; 130: 59–68.10.1016/0022-510X(95)00003-KSearch in Google Scholar
 Kwakkel G, Kollen BJ, Krebs HI. Effects of robot-assisted therapy on upper limb recovery after stroke: a systematic review. Neurorehabil Neural Repair 2008; 22: 111–121.10.1177/1545968307305457Search in Google Scholar PubMed PubMed Central
 Kwakkel G, Wagenaar RC, Koelman TW, Lankhorst GJ, Koetsier JC. Effects of intensity of rehabilitation after stroke. A research synthesis. Stroke 1997; 28: 1550–1556.10.1161/01.STR.28.8.1550Search in Google Scholar
 Popovic N, Williams S, Schmitz-Rode T, Rau G, Disselhorst-Klug C. Robot-based methodology for a kinematic and kinetic analysis of unconstrained, but reproducible upper extremity movement. J Biomech 2009; 42: 1570–1573.10.1016/j.jbiomech.2009.03.042Search in Google Scholar PubMed
©2015 by De Gruyter