IEEE Transactions on Neural Systems and Rehabilitation Engineering最新文献_第5页

Personalized Robotic Lumbar Rehabilitation Based on Medical-Imaging-Assisted Musculoskeletal Biomechanical Modeling 基于医学成像辅助肌肉骨骼生物力学建模的个性化机器人腰椎康复。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-10 DOI: 10.1109/TNSRE.2026.3663395

Jinge Wang;Jiaqi Cui;Hanqiang Ouyang;Yuanyuan Zhang;Weiyi Zhao;Weishi Li;Xuefeng Wang

{"title":"Personalized Robotic Lumbar Rehabilitation Based on Medical-Imaging-Assisted Musculoskeletal Biomechanical Modeling","authors":"Jinge Wang;Jiaqi Cui;Hanqiang Ouyang;Yuanyuan Zhang;Weiyi Zhao;Weishi Li;Xuefeng Wang","doi":"10.1109/TNSRE.2026.3663395","DOIUrl":"10.1109/TNSRE.2026.3663395","url":null,"abstract":"Low back pain often involves paraspinal muscle degeneration. Rehabilitation robots can provide high-consistency exercise therapy, but current technologies face the challenge of delivering personalized training to patients with various muscular conditions. To solve the issue, this work proposes an automated framework that translates sparse clinical magnetic resonance imaging (MRI) scans into personalized robotic lumbar rehabilitation strategies. First, a Bayesian fusion method with adaptive observation confidence is proposed to enable automatic posterior inference of the 3D paraspinal muscle geometry from sparse MRI. Key biomechanical parameters, including physiological cross-sectional area and fat infiltration, are extracted from the reconstructed muscle shapes to create a patient-specific musculoskeletal model. Based on the personalized model, a hierarchical optimization framework is developed to generate rehabilitation strategies of the combined multi-degree-of-freedom (multi-DOF) motions and dynamic interaction forces to maximize the target muscle activation. Validation on multi-center datasets demonstrates 90% dice similarity for the muscle reconstruction. Personalized validation experiments on volunteers with varying muscle fat infiltration levels revealed that conventional empirical force strategies failed to adapt to individual differences, leading to risks of activation overload or insufficient stimulation. In contrast, the proposed personalized strategy reduced the activation level variance by 60.49% compared to the empirical strategy and maintained the target activation error within 4%. The results demonstrate that the proposed framework significantly mitigates individual uncertainties, ensuring both safety and effectiveness in robotic rehabilitation.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1060-1071"},"PeriodicalIF":5.2,"publicationDate":"2026-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11390717","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146156965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Frequency-Specific and Topological Reorganization in Multilayer Corticomuscular Network Following Stroke 脑卒中后多层皮质肌肉网络的频率特异性和拓扑重组。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-09 DOI: 10.1109/TNSRE.2026.3662361

Yingying Hao;Xiaoling Chen;Jian Zhang;Wenhao Hu;Min Tang;Ping Xie

{"title":"Frequency-Specific and Topological Reorganization in Multilayer Corticomuscular Network Following Stroke","authors":"Yingying Hao;Xiaoling Chen;Jian Zhang;Wenhao Hu;Min Tang;Ping Xie","doi":"10.1109/TNSRE.2026.3662361","DOIUrl":"10.1109/TNSRE.2026.3662361","url":null,"abstract":"Understanding the frequency dependent alterations in brain–muscle communication after stroke is crucial for advancing targeted neurorehabilitation strategies. In this study, we propose a novel multilayer corticomuscular network (MCMN) model based on functional corticomuscular coupling characteristics. Using multichannel electrophysiological recordings acquired during a multi-joint motor task, we constructed a super-connectivity matrix by combining phase synchronization and phase-amplitude coupling across frequency bands. We then examined both local (single-layer) and global (multilayer) network properties by comparing nodal metrics between stroke patients and healthy controls in terms of functional connectivity and topological organization. The results revealed that stroke patients exhibited enhanced theta band within-frequency subnetwork relative to controls, but significantly reduced beta and gamma band subnetworks. Cross-frequency subnetworks in patients showed diminished integrative capacity compared to controls, with the exception of proximal muscle nodes in the beta–gamma subnetwork, which displayed pronounced hub properties. At the global level, patients demonstrated contralateral compensatory reorganization, whereas the contralateral hemisphere exhibited impaired cross-layer integration. The MCMN of stroke patients showed reduced algebraic connectivity, reflecting lower network robustness and information transfer efficiency. Finally, we found that node degree of gamma band and multiplex clustering coefficient of ipsilateral exhibited a linear correlation with FMA-UE scores in stroke patients. This multilayer network approach reveals frequency-specific and topological reorganization of corticomuscular interactions following stroke, providing a novel systems level framework for exploring motor network plasticity and informing precision neurorehabilitation.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1131-1143"},"PeriodicalIF":5.2,"publicationDate":"2026-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11382047","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146149496","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Tactile-Triggered Control Strategy for Prosthetic Hands: Design and Performance Verification 一种新型假肢触觉触发控制策略：设计与性能验证。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-06 DOI: 10.1109/TNSRE.2026.3661387

Lan Tian;Yue Zheng;Yan Liu;Xiaobei Jing;Haoshi Zhang;Peng Fang;Xiangxin Li;Guanglin Li

{"title":"A Novel Tactile-Triggered Control Strategy for Prosthetic Hands: Design and Performance Verification","authors":"Lan Tian;Yue Zheng;Yan Liu;Xiaobei Jing;Haoshi Zhang;Peng Fang;Xiangxin Li;Guanglin Li","doi":"10.1109/TNSRE.2026.3661387","DOIUrl":"10.1109/TNSRE.2026.3661387","url":null,"abstract":"The surface electromyogram (sEMG) based motion intent recognition has been considered as a promising approach for prosthetic hand control. However, the variations of EMG signals in daily applications and the insufficient residual muscles of amputees make the clinical application of EMG-based prosthesis remain a challenge. Tactile signals provide critical haptic information for human beings during object manipulation, which is expected to serve as a signal source for motion intent recognition. In this study, a novel tactile-triggered method of motion intent recognition and prosthetic hand control was proposed. This method is implemented by a finite state machine (FSM) using a multi-axis tactile sensor and is deployed in an integrated system. Validation consisted of three evaluation tests, the last involving both able-bodied and transradial-amputee participants. For comparison, the EMG pattern recognition (EMG-PR) control method was also implemented in all three tests. The experimental results demonstrate that the tactile-triggered control strategy provides an effective approach for prosthetic hand opening/closing control, enabling stable grasping of diverse objects of varying shapes and sizes. Compared to EMG-PR, this method substantially eliminates control performance degradation caused by arm posture changes and exhibits superior grasping stability. Additionally, it avoids muscle fatigue in users. This approach offers a promising prosthetic control strategy that can either function as a non-EMG control paradigm or serve as a complementary modality to myoelectric control.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1239-1249"},"PeriodicalIF":5.2,"publicationDate":"2026-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11373275","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146131876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hierarchical Classification of EMG Signal for Hand and Wrist Gestures and Forces in Myoelectric Control 手、腕部动作与肌电控制力的肌电信号分级分类。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-06 DOI: 10.1109/TNSRE.2026.3660210

Roberto Billardello;Katarina Dejanovic;Francesca Cordella;Daniele D’Accolti;Christian Cipriani;Loredana Zollo

{"title":"Hierarchical Classification of EMG Signal for Hand and Wrist Gestures and Forces in Myoelectric Control","authors":"Roberto Billardello;Katarina Dejanovic;Francesca Cordella;Daniele D’Accolti;Christian Cipriani;Loredana Zollo","doi":"10.1109/TNSRE.2026.3660210","DOIUrl":"10.1109/TNSRE.2026.3660210","url":null,"abstract":"The loss of an upper limb significantly affects daily activities, making advanced prosthesis control crucial for improving the quality of life. Pattern recognition applied to electromyographic signals has emerged as a leading solution for controlling prosthetic hands; yet, most studies focus solely on steady-state muscle activity, neglecting the transient phase of contraction, thereby limiting real-world applicability. To address this limitation, this study introduces a hierarchical approach that combines an Onset Detection Algorithm, a 9-class steady-state gesture classifier, and a three-level force classifier. Additionally, it investigates Self-selected contraction levels across three grasp types, corresponding to subjectively perceived low, medium, and high forces, chosen according to each participant’s preference or perceived exertion. Results demonstrate improved classification accuracy and responsiveness, particularly during early muscle contraction, outperforming state-of-the-art methods. Moreover, optimal contraction levels were found to be grasp-dependent and significantly lower than those commonly used in the literature, emphasizing the need to adjust reference values to reduce fatigue and enhance comfort.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"978-987"},"PeriodicalIF":5.2,"publicationDate":"2026-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11373116","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146131830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Hybrid Assistive-Resistive Isokinetic Training Robot for Full-Cycle Knee Rehabilitation 一种用于全周期膝关节康复的混合型辅助-阻力等速训练机器人。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-06 DOI: 10.1109/TNSRE.2026.3661538

Haoyang Wu;Wenjie Chen;Liheng Tuo;Jiaxin Ren;Linhang Ju;Xingyu Hu;Yixin Shao;Di Shi;Lecheng Ruan;Yan Huang;Bi Zhang;Kunyang Wang;Yanggang Feng;Wuxiang Zhang

{"title":"A Hybrid Assistive-Resistive Isokinetic Training Robot for Full-Cycle Knee Rehabilitation","authors":"Haoyang Wu;Wenjie Chen;Liheng Tuo;Jiaxin Ren;Linhang Ju;Xingyu Hu;Yixin Shao;Di Shi;Lecheng Ruan;Yan Huang;Bi Zhang;Kunyang Wang;Yanggang Feng;Wuxiang Zhang","doi":"10.1109/TNSRE.2026.3661538","DOIUrl":"10.1109/TNSRE.2026.3661538","url":null,"abstract":"Previously, we proposed a power-free isokinetic training robot designed to provide resistive isokinetic training for knee injury patients during advanced-stage rehabilitation. However, patients in the early stage often lack sufficient muscle strength and necessitate assistive support. To address this limitation, this study introduces a hybrid assistive-resistive isokinetic training robot that integrates active assistance for early-stage knee rehabilitation and power-free resistive training for advanced stages. The system features a compact mechanical design and a reconfigurable control circuit capable of dynamically switching among three modes: active, passive (regeneration), and passive (consumption). Ten healthy subjects and ten knee-injury patients participated in the experimental validation. The results confirmed the adaptability of the system across multiple rehabilitation stages. These findings demonstrate the feasibility of the hybrid assistive-resistive isokinetic training robot and highlight the potential of the system for both clinical application and home-based rehabilitation. Future work will focus on extending the system to multi-joint training and enhancing control algorithms for broader patient populations.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1294-1304"},"PeriodicalIF":5.2,"publicationDate":"2026-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11373053","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146131873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Robotic Assistance With Specialized Timing Improves Motor Performance: Implications for Movement Training 专门计时的机器人辅助改善运动表现：对运动训练的影响。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-03 DOI: 10.1109/TNSRE.2026.3660517

Alex C. Dzewaltowski;Philippe Malcolm

{"title":"A Robotic Assistance With Specialized Timing Improves Motor Performance: Implications for Movement Training","authors":"Alex C. Dzewaltowski;Philippe Malcolm","doi":"10.1109/TNSRE.2026.3660517","DOIUrl":"10.1109/TNSRE.2026.3660517","url":null,"abstract":"Robotic devices can expand the repertoire of rehabilitation methods by enabling actions that cannot be replicated by a physical therapist. We previously developed a technique, we term ‘rapid assistance,’ that can assist movements beginning within the electromechanical delay between muscle activation and muscle contraction. Here, we evaluated the effects of repeated arm extension training with rapid assistance in older adults (n = 18) during a single session. We compared training with rapid assistance to a control group that performed unassisted arm extension training. Participants positively adapted to rapid assistance indicated by quickening reaction times (15.69%, <inline-formula> <tex-math>${t} = -1.79$ </tex-math></inline-formula>, <inline-formula> <tex-math>${p} =0.089$ </tex-math></inline-formula>, <inline-formula> <tex-math>${d} =0.36$ </tex-math></inline-formula>) and greater extension angular velocities (47.93%, <inline-formula> <tex-math>${t} =3.47$ </tex-math></inline-formula>, <inline-formula> <tex-math>${p} =0.002$ </tex-math></inline-formula>, <inline-formula> <tex-math>${d} =0.56$ </tex-math></inline-formula>) compared to the control group following training. These motor performance improvements following rapid assistance training may be due to reducing Golgi-tendon inhibition during muscle contraction thereby, introducing an alternate strategy to improve motor performance. This specialized assistive timing may address a trade-off present in rehabilitative practice between assisting a patient or sufficiently challenging them to facilitate functional recovery.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1041-1047"},"PeriodicalIF":5.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11371382","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146113224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of FPGA-Based Rehabilitation Effect Assessment Headband 基于fpga的康复效果评估头带设计。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-03 DOI: 10.1109/TNSRE.2026.3660726

Willy Chou;Bor-Shing Lin;Yu-Chia Chang;Bor-Shyh Lin

{"title":"Design of FPGA-Based Rehabilitation Effect Assessment Headband","authors":"Willy Chou;Bor-Shing Lin;Yu-Chia Chang;Bor-Shyh Lin","doi":"10.1109/TNSRE.2026.3660726","DOIUrl":"10.1109/TNSRE.2026.3660726","url":null,"abstract":"Stroke is an emergency cerebrovascular event, resulting in damage to cranial nerves, and the subsequent rehabilitation is necessary to restore neurological function and improve patient outcomes. In clinical settings, the rehabilitation effectiveness is assessed subjectively by experienced physicians or through the use of performance assessment scales. Although several techniques, such as electroencephalography (EEG), cardiopulmonary exercise testing (CPET), and functional magnetic resonance imaging (fMRI), may also be utilized in the evaluation of rehabilitation effectiveness, they require higher costs and the expertise of professional medical staff for experienced operation and post-analysis. Based on the technique of near-infrared spectroscopy (NIRS), a field programmable gate array (FPGA)-based rehabilitation effect assessment headband was proposed. The designed headband could monitor the change in cerebral blood flow non-invasively and continuously under exercise. From the changes in cerebral blood flow, eight perfusion indexes were also extracted in real time and utilized to assess the cardiopulmonary function status of middle-aged and older adults before and after rehabilitation. The analysis algorithm would be completed in the wireless and wearable headband to greatly improve the convenience of use. The experimental results showed that the cardiopulmonary function status could be effectively classified from defined perfusion indexes, and the differences between defined perfusion indexes and the neural network output before and after rehabilitation were also significant.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"988-996"},"PeriodicalIF":5.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11371400","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146113193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Evaluation of User-Centered Extended Reality Myoelectric Prosthesis Training Tool 以用户为中心的扩展现实肌电假肢训练工具的设计与评价。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-02-02 DOI: 10.1109/TNSRE.2026.3660215

InHwa Lee;Christopher L. Hunt;Nitish V. Thakor;Rahul R. Kaliki

{"title":"Design and Evaluation of User-Centered Extended Reality Myoelectric Prosthesis Training Tool","authors":"InHwa Lee;Christopher L. Hunt;Nitish V. Thakor;Rahul R. Kaliki","doi":"10.1109/TNSRE.2026.3660215","DOIUrl":"10.1109/TNSRE.2026.3660215","url":null,"abstract":"In recent years, extended reality-based myoelectric training has emerged as a promising approach to prepare users for advanced prosthesis control. This study: 1) identified User Needs for an ideal training tool through qualitative interviews with occupational therapists; 2) developed the Myoelectric Training in Extended Reality (MyoTrainXR) system; and 3) evaluated its usability using an advanced postural control strategy. Six individuals with intact limbs and two with trans-radial upper limb loss underwent four 45-minute training sessions with the Block Builder module. The Pasta Box Task was used during training and evaluation, and the Cup Transfer Task was used only during evaluation. In the Pasta Box Task, participants with intact limbs maintained a 100% completion rate, while their success rate increased from <inline-formula> <tex-math>$86.1pm 5.8$ </tex-math></inline-formula>% to <inline-formula> <tex-math>$98.5pm 3.7$ </tex-math></inline-formula>%. Participants with upper limb loss began with completion rates between 0% and 40%, improving to 100%, with success rates between 90.9% and 100% by the final evaluation. Iteration completion times showed significant reduction across all participants (<inline-formula> <tex-math>$p$ </tex-math></inline-formula>-value < 0.05, linear mixed-effects model), with the median decreasing from 19.4 to 15.8 seconds. The Cup Transfer Task showed a similar trend of significant improvement, demonstrating that the acquired skills generalized to an untrained task. The system also demonstrated excellent usability, with an average System Usability Scale score of <inline-formula> <tex-math>$81.9pm 10.0$ </tex-math></inline-formula>. These findings indicate that our user-centered extended reality training tool holds promise for enhancing myoelectric control proficiency.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"1010-1020"},"PeriodicalIF":5.2,"publicationDate":"2026-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11370275","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146105317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Behavioral Cloning of Physiotherapists in Adapting Robot Control Parameter 物理治疗师在机器人控制参数适应中的行为克隆。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-01-29 DOI: 10.1109/TNSRE.2026.3659215

Rita Molle;Christian Tamantini;Clemente Lauretti;Davide Sebastiani;Fabio Santacaterina;Marco Bravi;Federica Bressi;Sandra Miccinilli;Loredana Zollo

{"title":"Behavioral Cloning of Physiotherapists in Adapting Robot Control Parameter","authors":"Rita Molle;Christian Tamantini;Clemente Lauretti;Davide Sebastiani;Fabio Santacaterina;Marco Bravi;Federica Bressi;Sandra Miccinilli;Loredana Zollo","doi":"10.1109/TNSRE.2026.3659215","DOIUrl":"10.1109/TNSRE.2026.3659215","url":null,"abstract":"Robot-aided rehabilitation effectively supports treatment of upper-limb disorders and enhances outcomes when combined with traditional therapy. Artificial intelligence enables behavioral cloning of physiotherapists’ expertise to autonomously modulate robot assistance from real-time multimodal patient data. Therefore, this paper aims to propose and validate a behavioral cloning strategy, namely Physiotherapist-Supervised Parameter Adaptation (PSPA), for online tuning the robot assistance level replicating the physiotherapists’ decision-making.The experimental validation was conducted in a clinical setting involving ten post-surgical orthopedic patients who participated in a robot-aided rehabilitation session using the KUKA LWR 4 + robot. The sessions were supervised by physiotherapists who could adjust the level of robotic assistance as needed, thus labelling the collected patient multimodal data. The validation aimed at i) identifying the best-performing input modality, feature set, and classifier, and ii) comparing the capability of the approach in tailoring the assistance level with respect to the established performance-based (PB) one.Combining biomechanical and physiological features significantly improved the classification performance across all classifiers, with the highest performance observed for the Multilayer Perceptron on the present dataset. Moreover, using the optimized feature set, the proposed PSPA methodology achieved an even greater alignment with the physiotherapists’ decisions with respect to the PB approach (<inline-formula> <tex-math>$Delta text {F1-score} = {15}.{40} pm {30}.{33}%$ </tex-math></inline-formula>, <inline-formula> <tex-math>$rho = {0}.{56} pm {0}.{21}$ </tex-math></inline-formula> for PSPA, <inline-formula> <tex-math>$rho = -{0}.{12} pm {0}.{43}$ </tex-math></inline-formula> for PB).","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"966-977"},"PeriodicalIF":5.2,"publicationDate":"2026-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11367816","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146085647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Functional Assessment of a Flexible Thermal Stimulation Device for Hand Edema Elimination in Stroke Survivors 一种用于脑卒中幸存者手部水肿消除的柔性热刺激装置的功能评估。

IF 5.2 2区医学

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2026-01-29 DOI: 10.1109/TNSRE.2026.3659248

Yitong Zhou;Jun Zhang;Yingying Li;Congzhi Tang;Xi Yang;Aiguo Song

{"title":"Functional Assessment of a Flexible Thermal Stimulation Device for Hand Edema Elimination in Stroke Survivors","authors":"Yitong Zhou;Jun Zhang;Yingying Li;Congzhi Tang;Xi Yang;Aiguo Song","doi":"10.1109/TNSRE.2026.3659248","DOIUrl":"10.1109/TNSRE.2026.3659248","url":null,"abstract":"Stroke survivors often suffer from severe discomfort caused by persistent hand edema, including hand pain, restricted knuckle mobility, and negative emotions, which significantly hinders normal rehabilitation progress. Whether physical or psychological in impact, the prevention and treatment of hand edema warrant significant attention throughout all stages of stroke rehabilitation. However, traditional rehabilitation therapies generally neglect edema management, focusing primarily on motor function recovery. Consequently, this study introduces the TESSR (ThErmal Stimulation device for Stroke Rehabilitation), a novel apparatus designed to promote hand rehabilitation for stroke survivors. TESSR is equipped with a flexible stimulation array comprising 50 independently controlled stimulation units, each capable of rapid heating and cooling transitions as well as delivering sustained and stable thermal outputs. This alternating thermal stimulation (TS) is designed to alleviate edema and activate the sensory cortex, thereby facilitating neuroplasticity. A controlled clinical study was conducted with 12 stroke survivors to assess the effectiveness of the TESSR device. The participants were divided into two groups: one receiving conventional rehabilitation (CR group) and the other receiving supplementary TS conducted by the TESSR device (TS group). Following a two-week intervention, the TS group exhibited a notable reduction in hand edema, with a mean decrease of 38.6%, compared to the minimal improvement observed in the CR group. Furthermore, participants in the TS group demonstrated improved hand function, including enhanced sensory perception and diminished pain. The findings demonstrate the potential of TESSR as a comprehensive and effective tool for hand rehabilitation.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"34 ","pages":"941-951"},"PeriodicalIF":5.2,"publicationDate":"2026-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11367718","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146085596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0