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Table 1 Overview of the evaluation activity performed in robot-assisted rehabilitation

From: Assessment of movement quality in robot- assisted upper limb rehabilitation after stroke: a review

Evaluation activity Body plane Evaluation objectives Aspect of movement quality addressed Studies
Center-out point-to-point (CO-PTP) Transverse Feed-forward and Feedback control Temporal efficiency, Ease, Smoothness, Accuracy, Planning, Efficacy, Movement efficiency, Inter-limb coordination, Range [1, 18, 20, 4449]
  Frontal Feedback control, Gravity-compensation Temporal efficiency, Smoothness [50, 51]
Point-to-Point Reaching Transverse Feed-forward, Feedback control, Perturbation- compensation Temporal efficiency, Ease, Smoothness, Planning, Movement efficiency [10]
  Sagittal/Frontal Range of motion, Feed-forward and Feedback control, Gravity-compensation Planning, Temporal efficiency, Smoothness, Range [22, 22, 45, 5259]
Free/Constrained/Targeted Reaching Sagittal/Frontal Range of motion, Perturbation-compensation, Feed-forward and Feedback control, Gravity-compensation Planning, Temporal Efficiency, Range, Smoothness, Movement Efficiency [29, 60]
Shape drawing Transverse Untrained activity, synergy Accuracy, Intra-limb coordination [39]
Shape tracing/tracking Transverse Synergy, Feedback control Accuracy, Efficacy, Ease, Smoothness [13, 17, 21, 27, 59, 61, 62]
  Frontal Synergy, Feedback control Ease, Accuracy [63]
Bimanual matching Transverse Somatosensory (Proprioception) Planning, Movement efficiency, Ease [19, 20, 64]
Bimanual reaching Sagittal Somatosensory, Coordination Inter-limb coordination, Efficacy, Ease [59, 65]
Isolated movement All Range of motion Range [6668]
Activity of daily living All Functional ability Inter-limb coordination, Temporal efficiency [7]
Virtual games All Functional ability Range [67, 92]