Robot enhanced stroke therapy optimizes rehabilitation (RESTORE): a pilot study

Table 1 Difficultly scaling parameters and functions targeted for robotic therapy tasks

Task	Increase difficulty	Functions targeted
Assist/resist	Reduce assistive force Increase resistive force	Strength Accuracy Speed Range of motion
Proprioceptive reaching	Reduce assistive force Reduce virtual radius size More challenging target locations Reduce target size	Sensation Speed Accuracy
Ball on bar	Increase ball movement Reduce ball friction	Bimanual coordination Speed Accuracy
Virtual soccer	Increase ball speed Change net location and size Reduce paddle size	Bimanual coordination Speed Accuracy
Motor tracing	Increase speed of chase target Increase acceleration of chase target Reduce size of chase target Make shape more complex Increase shape size	Motor control Accuracy
Proprioceptive tracing		Sensation Motor control Accuracy
Pong	Increasing possible ball speed Decrease ball size Increase ball elasticity Decrease paddle size Increase court size	Bimanual coordination Motor control Accuracy
Hand ball		Motor control Accuracy
Ball Grab	Decrease end target size Decrease amount of time for reach More challenging target locations	Speed Accuracy Range of motion

This table outlines how the nine tasks used as part of this pilot study increase in difficulty and which functions are targeted

ISSN: 1743-0003