Feasibility studies of robot-assisted stroke rehabilitation at clinic and home settings using RUPERT.

Task based repetitive therapy has been proposed to help stroke survivors to regain functional control of arm movement. We developed a wearable exoskeleton rehabilitation robot with associated control algorithm and safety protection mechanisms, and a graphic user interface that is easy to use and intuitive to patients and therapists, as the framework for automated and customizable robot-assisted rehabilitation system for clinic and home based therapy. The system was tested in two feasibility studies. The first study involved 6 patients to receive therapeutic training during three time weekly clinic visits for 4 weeks. The second study set up the robot-assisted rehabilitation system at patient's house, where the therapeutic training was practiced on a daily base. Two patients were recruited for the home application study. Patients' performances were assessed using clinical evaluation tools, including Wolf Motor Function Test and Fugl Meyer Assessment (FMA), both before and after the training. The performances of patients during the training weeks were also objectively evaluated by using the robot sensory data.