Table 3 Summary of bilateral training devices and reported measures of interlimb coordination
Device | Interlimb activities allowed by the device | Reported measure of interlimb coordination |
|---|---|---|
Able-X [89] | Coupled arm movements in free space. | None |
Adaptive Bimanual Robotic Training [90] | Coupled, visual and point symmetric. | • Relative power between arms • Rotational error |
Mirror or near-symmetric (phase lag of 60°) wrist flexion and extension movements in the horizontal plane. | None | |
ARCMIME [93] | Uncoupled arm movements in one DOF (forwards and backwards). Adjustable plane. | None |
Uncoupled arm movements in one DOF (forwards and backwards). Adjustable plane. | None | |
BFIAMT [97] | Forward and backward movement over parallel tracks, bilateral reciprocal, and bilateral symmetric upper limb movement. | None |
Bimanual Handlebar [98] | Coupled forward and backward arm movements as well as rotational movements of the end-effector around an axis perpendicular to the direction of the translation. | Rotational error |
Bimanual-Coordinated Training System [99] | Uncoupled movements, one DOF. | None |
Mirror and visual symmetric forearm pronosupination and wrist flexion/extension. | None | |
Any, constrained to planar movements of the arm in the transverse plane involving elbow and shoulder flexion/extension. | Average stopping field; balance error during a coupled reaching task | |
Coupled, point-symmetric movements. | None | |
Any, free space. | Efficiency index for the Bilateral Movement Training | |
Hand Robotic Rehabilitation Device [107] | Forearm pronosupination and wrist flexion/extension movements. | None |
Hand-Object-Hand (H-O-H) [108] | Coupled wrist flexion/extension movements. | None |
KINARM [88] | Any, constrained to planar movements of the arm in the transverse plane involving elbow and shoulder flexion/extension. | • Absolute tilt • Difference in reaction time • Change in bar length • Difference in hand speed • Difference in hand speed peaks • Difference in hand path length |
Any arm movement. | None | |
Reha-Slide [113] | Coupled arm movements in one DOF (forwards and backwards). Adjustable plane. | None |
Reha-Slide Duo [114] | Uncoupled arm movements in one DOF (forwards and backwards). Adjustable plane. | None |
The Bimanual Lifting Rehabilitator [115] | Coupled arm movements, similar to lifting a tray. | Time series similarity between right and left hand lift forces |
Virtual Reality Piano [116] | Any. | • Performance time • Sequential accuracy |