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Table 2 Summary of the paper lists and features

From: Interactive wearable systems for upper body rehabilitation: a systematic review

Reference

Technology (n)

Placement

Feedback

Evaluation

Wearability

Measurement &Rehabilitation

Purpose

Target population

Lee et al. 2010; [37]

Accel (n = 2)

Upper arm, Forearm

KP

Concurrent; Kinematic rendering of upper extremity.

VR

Tech.

Accuracy experiment on rotary stage and comparison experiment with goniometer (n = 1)

Strapped with Velcro; Attachable;

ROM; Improve active joint range of motion;

General rehabilitation (arm)

Kapur et al. 2010; [38]

Magnetometer (n = 3)

Wrist, Elbow, Clavicle

KP, KR

Concurrent; Kinematic rendering of upper extremity, Vibration for movement direction;

Prescriptive KP FB;

VR; Vibrotactile FB

None

N/A

Full-body Suit;

Embedded, normal wire;

Body Segment Posture; Improve movement performance;

Stroke

Luo et al. 2010; [39]

OLE (6), IMU (n = 2)

Upper arm, Elbow, Wrist,

Finger

KR

Concurrent; VR game based on Kinematic rendering of upper extremity and hand, Sound FB.

VR (game);

Auditory FB

Tech.

Reliability Test (n = 5);

Arm Suit & Glove;

Attachable;

Body Segment Posture; Improve movement performance;

Stroke

Wang et al. 2010; [40]

Accel (up to 8),

Upper arm,

Elbow, Wrist

KP,

KR

Concurrent;

Movement curve of each sensor node, Video of patient’s training.

Visual FB

(PC, PDA)

Usab.

Pre-clinical evaluation trial on patients (n = 2)

Strapped with Fabric bands;

Attachable;

Speed & Body Segment Posture; Improve movement performance;

Ligament injury, Hemiplegic rehabilitation

Wai et al. 2010; [41]

IRIS mote (accel & gyro)

Upper arm Forearm

KP,

KR

Concurrent; Kinematic rendering of body, Sensor Reading.

Visual FB

(PC)

Tech.

Accuracy measurement on subject

Based on straps;

Attachable;

Body Segment Posture; Improve movement performance;

General rehabilitation

Dunne et al. 2010; [42]

Accel (n = 1)

Chest

KR

Concurrent; Game score based on trunk posture, BW FB on trunk compensatory movement.

Visual FB (Multi-Touch Display, game)

None

N/A

Portable device, Attachable;

Body Segment Posture; Improve posture and movement performance;

Cerebral palsy children

Timmermans et al. 2010; [4]

IMU (n = 3)

Chest,

Upper arm, Forearm

KP,

KR

Concurrent & Terminal;

Gauge represents real-time joint angle, Avatar animation of upper body, Movement parameters score, etc.;

Visual FB (PC)

Usab.

Clini.

Clinical evaluation (n =9)

Garment on torso & Strap on arm;

Attachable;

ROM & Body Segment Posture;

Improve active joint range of motion; Improve performance of ADL skills.

Stroke

Harms et al. 2010; [43]

Accel (n = 2)

Forearm,

Upper arm

KP

Concurrent; Avatar animation of upper body;

Visual FB

Tech.

Accuracy test on normal people (n = 5)

Embedded into a wearable garment;

Embedded;

ROM; Improve posture; Improve active joint range of motion;

General Rehabilitation (Shoulder and Elbow)

Markopoulos et al. 2011; [44]

Accel (n = 2)

Wrist

KR

Terminal; Summary FB of arm use;

Visual FB

(Watch-like device)

Usab.

Preclinical & Usability Test on real patients (n = 9)

Watch-like device;

Attachable;

Amount of Use;

Overcome learned non-use; Improve performance of ADL skills.

Stroke

Moya et al. 2011; [45]

IMU (n = 4)

Back, Shoulder, Elbow, Wrist

KP

KR

Concurrent; Avatar animation of bodyand arm movement,

Sphere animation for trajectory indication,

Repetition number, progress bar; Prescriptive;

VR (game)

Usab.

Preclinical & Usability Test (n = 23 therapists)

Special garment fixes sensor with Velcro;

Attachable;

Body Segment Posture; Improve movement performance;

Stroke

Nguyen et al. 2011; [46]

OLE, Accel

Shoulder, Elbow, Wrist

KP

Concurrent; Kinematic model of upper arm and forearm; Prescriptive KP;

VR

Tech.

Comparison experiments for accuracy andperformance (n = 3);

Repeatability and Reliability test (n = 5)

Fabric sensor package with Velcro strap;

Embedded;

ROM;Improve active joint range of motion;

Stroke

Ambar et al. 2012; [48]

Flex sensor, Accel

Elbow, Forearm,

Wrist

KR

Terminal; The number of the arm bent movement;

Visual FB

(LCD)

Tech.

1, sensor performance report; 2, Comparison Experiment of FSRs and EMG; 3, ACC measurement activity.

Strapped with Velcro;

Attachable;

Amount of Use; Improve performance of ADL skills.

Stroke

Alankus et al. 2012; [49]

Accel (Wii built-in, n = 2)

Back, Upper arm

KR

Concurrent; Game result based on both trunk and arm movement; BW FB for trunk and arm compensatory movement;

Screen Visual FB (PC game);

Auditory FB

Tech.

Usab.

Validation Test on normal people (n = 2);

Preclinical & Usability Test on patients (n = 11)

Harness with straps around the neck, armband;

Attachable;

Body Segment Posture; Improve posture and movement performance;

Stroke

Delbressine et al. 2012; [3]

Accel (n = 2)

Back, Shoulder

KR

Concurrent; BW FB on trunk or shoulder compensatory movement with vibration;

Visual FB

(Touchscreen)

Usab.

Preclinical & Usability Test on patients (n = 7)

Vest; Attachable; pocket

Body Segment Posture;

Improve posture;

Improve performance of ADL;

Stroke

Jeong et al. 2012; [50]

Accel (n = 1)

Wrist

KR

Concurrent & Terminal;

Speed, count, time of cycling movement;

Visual FB (PC)

Tech.

Accuracy test on normal people (n = 7)

Strapped with Velcro; Attachable;

Amount of Use & Speed; Encourage arm hand use;

Motivate exercise performance;

General Rehabilitation

(arm)

Myllymaa et al. 2012; [51]

Accel (n = 1)

Arm

KP

Concurrent; Motion instruction; Prescriptive KP FB;

Vibrotactile FB,

None

N/A

Strapped with band; Attachable;

Amount of Use;

Improve muscle strength;

General Rehabilitation (arm)

Ding et al. 2013; [52]

IMU (n = 2)

Forearm, Upper arm

KP, KR

Concurrent; Indication of movement direction for upper extremity; BW FB for the reference position;

Prescriptive KP FB;

Vibrotactile FB

Tech.

Accuracy test on subjects (n = 5)

Strapped with Velcro; Attachable;

Body Segment Posture; Improve posture and movement performance;

Stroke

Saggio et al. 2013; [53]

Flex sensor (n = 5)

Finger,

Palm

KP

Concurrent; Hand avatar;

Visual FB (PC)

Tech.

Usab.

Repeatability and reliability test on normal people (n = 6);

Usability test on normal people (n = 6)

Glove;Attachable;

ROM;

Improve active joint range of motion;

General Rehabilitation (hand)

Spina et al. 2013; [54]

IMU (Smartphone built in)

Limb segment

KR

KP

Concurrent & Terminal;

Teach mode and Train mode; Error notification, repetition number, motion speed; Prescriptive KP;

Visual FB

(Smartphone);

Auditory FB

Usab.

Usability test on normal people (n = 4) and patients (n = 7)

Strapped with holster; Attachable;

ROM;

Improve active joint range of motion;

COPD (Chronic pulmonary obstructive disease rehabilitation)

Bleser et al. 2013; [55]

IMU (up to 10)

Chest, Upper arm, Forearm,

Pelvis

KR KP

Concurrent & Terminal;

Movement Error notification and correction FB; Training time, repetition number, progress bar; Descriptive;

Visual FB (Television screen);

Auditory FB

Tech.

Usab.

Technical evaluation based on therapy ground truth (n = 7)

Clinical evaluation focusing on usability and acceptance on patients (n = 30)

Based on Velcro straps and elastic silicon; Attachable;

ROM & Body Segment Posture;

Improve active joint range of motion;

Improve movement performance;

General Rehabilitation;

Daponte et al. 2013; [56]

IMU (>2)

Limb segment (Upper arm, Forearm)

KP

Concurrent;

Avatar animation of arm movement, Real-time joint angle & ROM value;

VR

Tech.

Function validation test (n = 1)

Velcro based Sleevelet units;

Embedded;

ROM; Improve active joint range of motion;

General Rehabilitation;

Luster et al. 2013; [57]

Accel (n = 2),

Wrist

KR

Concurrent; BW FB on impaired arm use;

Vibrotactile FB,

Usab.

Usability test of vibration Feedback, Stroke patients (n = 4)

Wristband;

Embedded;

Amount of Use;

Overcome learned non-use;

Stroke

Bhomer et al.[58], 2013;

Stretch sensing fabric

Arm, low back

KP

Concurrent; Sound FB matched the arm and low back movement,

Movement region indication;

Visual FB (Smartphone);

Auditory FB

Usab.

Usability test with therapist and patients

Knitted garment;

Integrated;

ROM;

Improve active joint range of motion;

Alzheimer

Friedman et al. 2014; [47]

Electrical lead (n = 6)

Finger

KR

Concurrent; Game result based on finger pinch and grasp motion;

Screen Visual FB (PC game);

Auditory FB

Usab.

Randomized Clic.

Usability test with storke patients (n = 10)

Randomized clinical trial with stroke patients (n = 12).

Glove; Integrated;

Body Segment Posture; Improve coordination; Improve performance of ADL skills.

Stroke

Ferreira et al. 2014; [59]

IMU (Smartphone built-in)

Wrist

KR

Concurrent; Game results on arm movement performance;

Visual FB (Smartphone game)

Tech.

Usab.

Accuracy measurement on structure,

Usability of the system on patients (n = 1)

Wristband;

Attachable;

Body Segment Posture; Improve movement performance;

Stroke

Fortino et al. 2014; [60]

Accel (n = 2)

Upper arm,

Elbow

KP,

KR

Concurrent & Terminal;

Kinematic rendering of limb bending movementperformance, Improvement index data; Descriptive;

Visual FB (Smartphone)

Tech.

Estimation accuracy on normal subject (n = 1)

Elastic bracelets;

Attachable;

ROM; Improve active joint range of motion;

General Rehabilitation (arm)

Panchanathan et al. 2014; [61]

IMU (n > 1)

Upper arm,

Forearm

KP

Concurrent; Vibration instruction for position and speed error;

Vibrotactile FB

Usab.

Usability test withnormal people (n = 16)

Sleeve; Embedded; Conductive ribbon

Body Segment Posture & Speed;

Improve movement performance;

General Rehabilitation(arm)

Rahman et al. 2014; [62]

LDR sensor

Hand

KR

Terminal; Game score on arm movement;

VR (game)

Tech.

Accuracy and sensitivity test on normal people (n = 2)

Fabric Glove;

Embedded;

Normal wire

Body Segment Posture; Improve movement performance;

Cerebral Palsy

Salim et al. 2014; [63]

Tilt sensor (n = 2)

Hand

KP

Concurrent; Indication of arm movement direction;

Visual FB

(Smartphone)

Tech.

Pilot experiment (n = 1)

Fabric Glove;

Embedded; Normal wire

Body Segment Posture; Improve movement performance;

Stroke

Friedman et al. 2014; [64]

Magnetometer (n = 2),

Accel (n = 1)

Wrist, finger

KP

Concurrent; Amount of use of wrist and finger;

Visual FB

(Tablet)

Tech.

Accuracy test on normal peoplev (n = 7)

Watch-like device, ring;

Attachable;

Amount of Use;

Encourage arm hand use; Motivate exercise performance;

General Rehabilitation (hand)

Parker et al. 2014; [65]

IMU (n = 3)

Chest, Upper arm, Wrist

KP,

KR

Concurrent & Terminal;

Characteristics and results of performance by avatar presentation and charts; Prescriptive;

Visual FB (PC)

Usab.

Home-based on usability test on real patients (n = 5)

Garment on torso & Strap on arm;

Attachable;

ROM; Improve active joint range of motion; Improve performance of ADL skills;

Stroke

Halic et al. 2014; [66]

Flex sensor (n = 5),

Finger

KP,

KR

Concurrent; Avatar presentation, Game score;

Visual Game

(Smartphone)

Usab.

Usability test with normal people (n = 46)

Glove; Attachable;

Body Segment Posture; Improve movement performance;

General Rehabilitation (hand and wrist)

Tsekleves et al. 2014; [67]

IMU

(Wii plus built-in, n = 2)

Upper arm,

Forearm

KR,

KP

Concurrent & Terminal;

Avatar presentation, game score, ROM value;

VR (game)

Tech.

Usab.

Clic.

Accuracy test on structure;

Usability test with stroke patients (n = 3);

Small Clinical trial (n = 1)

Based on strips;

Attachable;

Body Segment Posture;

Improve active joint range of motion;

Improve movement performance;

Stroke

Moreira et al. 2014; [68]

IMU (n = 11)

Finger, Palm

KP

3d hand model animation,

VR

Tech.

Accuracy test with structure;

Reliability evaluation on normal people (n = 1);

Glove; Embedded;

ROM; Improve active joint range of motion;

General Rehabilitation (hand)

O’Flynn et al. 2015; [69]

IMU (n = 16)

Finger, Palm

KR,KP

Concurrent & Terminal;

Movement error summary;

3d hand model animation, dynamic movement value& analysis;

VR

Tech.

Comparison accuracy test on structure.

N/A

ROM; Improve active joint range of motion;

Arthritis Rehabiliation

Hermanis et al. 2015; [70]

IMU (up to 200)

Back

KP

Concurrent; 3D rendering surface showing the current posture of back or limb;

Visual FB

(Smartphone, Tablet or PC)

None

N/A

Sensing fabric based on sensor grids; Embedded; normal wire

Body Segment Posture; Improve posture;

Bones trauma or General Rehabilitation

Holden et al. 2015 [71]

Accel (n = 2)

Wrist

KR

Concurrent & Terminal;

Training notification;

Visual FB (Watch-like device);

Vibrotactile FB;

Usab.

Usability test on patients (n = 7)

Watch-like device; Attachable;

Amount of Use;

Encourage arm hand use;

Stroke

Ongvisatepaiboon et al. 2015; [72]

Accel (Smartphone built-in)

Elbow

KP,

KR

Concurrent & Terminal;

Shoulder joint angle value, repetition number;

Visual FB

(Smartphone)

Tech.

Accuracy test on normal people (n = 1)

Armband; Attachable

Body Segment Posture; Improve movement performance;

Frozen shoulder rehabilitation

Lee et al. 2015; [73]

Accel (n = 1)

Back

KR

Concurrent; BW FB of unbalance error;

Visual FB (Smartphone);

Vibrotactile FB

None

N/A

Based on strips;

Embedded, normal wire

Body Segment Posture; Improve posture;

General Rehabilitation

Rahman et al. 2015; [74]

Accel (n = 1)

Upper arm

KR

Concurrent; Successful repetition number;

Visual FB (Smartphone Game);

Tech.

Accuracy test on normal people (n = 5)

Based on strips;

Attachable

Body Segment Posture; Improve movement performance;

Spinal cord injury

Klaassen et al. 2015; [75]

IMU (n = 8),

KPF strain (n = 2), KPF goniometer,

Chest, Upper arm, Forearm,

Spine, Hand

KR,KP

Terminal; Range of motion value of body segments;

Reaching performance;

3D full body reconstruction;

Visual FB;

Usab.

Usability test on normal people.

Shirt and glove;

Integrated;

Embedded;

ROM; Improve active joint range of motion;

Stroke

Wang et al. 2016; [76]

IMU (n = 3)

Back, Shoulder

KR

Concurrent; Torso and shoulder movement value;

BW FB on compensatory movement of torso or shoulder;

Visual FB (Smartphone);

Vibrotactile FB;

Auditory FB

Tech.

Usab.

Accuracy test on normal people (n = 7)

Usability test on patients (n = 8)

Embedded into a wearable garment;

Embedded; conductive yarn

Body Segment Posture;

Improve posture and movement performance;

Stroke, shoulder pain

Bittel et al. 2016; [77]

Accel (Smartphone built-in)

Arm

KP

Concurrent & Terminal;

Angular movement error;

Visual FB (Smartphone)

Tech.

Accuracy and precision test (Comparison experiment with Biodex isokinetic dynamometer)

N/A; Attachable

ROM; Improve active joint range of motion;

General Rehabilitation

Newbold et al. 2016; [78]

IMU (Smartphone built-in)

Low back

KP

Concurrent; Sinification based on stretch forward movement;

Auditory FB

Usab.

Usability test on normal people (n = 21);

Strapped with band; Attachable;

ROM; Improve active joint range of motion; Reduce pain;

Chronic pain rehabilitation

Ploderer et al. 2016; [79]

IMU (n = 3)

Shoulder, Elbow,

Wrist

KP,

KR

Terminal; Movement quality, joint ROM value and arm movement heat map; Exercise time and movements number;

Visual FB (PC)

Tech.

Usab.

Accuracy test on normal people (n = 1);

Usability test on therapists (n = 8)

Based on Velcro straps; Attachable;

ROM & Body Segment Posture;

Improve active joint range of motion;

Improve posture and movement performance;

Stroke

  1. Abbreviations: KR Knowledge of results, KP Knowledge of performance, ROM Range of motion, FB Feedback, FSR Force sensitive resistor, Accel Accelerometer, IMU Inertial measurement unit, OLE Optical Linear Encoder, LDR sensor Light Dependent Resistor, BW FB BandWidth Feedback, VR Virtual Reality, ROM Range of motion, Tech. Technical evaluation, Usab. Usability test, Clini. Clinical trial, PC Personal Computer, KPF Knitted Piezoresistive Fabric