{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T17:07:09Z","timestamp":1790788029157,"version":"4.1.0"},"reference-count":45,"publisher":"Wiley","license":[{"start":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T00:00:00Z","timestamp":1571616000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004726","name":"Ministry of Health","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004726","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Bionics and Biomechanics"],"published-print":{"date-parts":[[2019,10,21]]},"abstract":"<jats:p><jats:italic>Background<\/jats:italic>. Upper limb robot-assisted therapy (RT) provides intensive, repetitive, and task-specific treatment, and its efficacy for stroke survivors is well established in literature. Biomechanical data from robotic devices has been widely employed for patient\u2019s assessment, but rarely it has been analysed for tracking patient progress during RT. The goal of this retrospective study is to analyse built-in kinematic data registered by a planar end-effector robot for assessing the time course of motor recovery and patient\u2019s workspace exploration skills. A comparison of subjects having mild and severe motor impairment has been also conducted. For that purpose, kinematic data recorded by a planar end-effector robot have been processed for investigating how motor performance in executing point-to-point trajectories with different directions changes during RT.<jats:italic>Methods<\/jats:italic>. Observational retrospective study of 68 subacute stroke patients who conducted 20 daily sessions of upper limb RT with the InMotion 2.0 (Bionik Laboratories, USA): planar point-to-point reaching tasks with an \u201cassist as needed\u201d strategy. The following kinematic parameters (KPs) were computed for each subject and for each point-to-point trajectory executed during RT: movement accuracy, movement speed, number of peak speed, and task completion time. The Wilcoxon signed-rank tests were used with clinical outcomes. the Friedman test and post hoc Conover\u2019s test (Bonferroni\u2019s correction) were applied to KPs. A secondary data analysis has been conducted by comparing patients having different severities of motor impairment. The level of significance was set at<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\"><mml:mi>p<\/mml:mi><\/mml:math>value &lt; 0.05.<jats:italic>Results<\/jats:italic>. At the RT onset, the movements were less accurate and smoothed, and showed higher times of execution than those executed at the end of treatment. The analysis of the time course of KPs highlighted that RT seems to improve the motor function mainly in the first sessions of treatment: most KPs show significant intersession differences during the first 5\/10 sessions. Afterwards, no further significant variations occurred. The ability to perform movements away from the body and from the hemiparetic side remains more challenging. The results obtained from the data stratification show significant differences between subjects with mild and severe motor impairment.<jats:italic>Conclusion<\/jats:italic>. Significant improvements in motor performance were registered during the time course of upper limb RT in subacute stroke patients. The outcomes depend on movement direction and motor impairment and pave the way to optimize healthcare resources and to design patient-tailored rehabilitative protocols.<\/jats:p>","DOI":"10.1155\/2019\/4251089","type":"journal-article","created":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T19:30:32Z","timestamp":1571686232000},"page":"1-12","source":"Crossref","is-referenced-by-count":32,"title":["Kinematic Parameters for Tracking Patient Progress during Upper Limb Robot-Assisted Rehabilitation: An Observational Study on Subacute Stroke Subjects"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2651-8479","authenticated-orcid":true,"given":"Michela","family":"Goffredo","sequence":"first","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9528-3239","authenticated-orcid":true,"given":"Stefano","family":"Mazzoleni","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy"},{"name":"Rehabilitation Bioengineering Laboratory, Volterra, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Annalisa","family":"Gison","sequence":"additional","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5570-8490","authenticated-orcid":true,"given":"Francesco","family":"Infarinato","sequence":"additional","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sanaz","family":"Pournajaf","sequence":"additional","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniele","family":"Galafate","sequence":"additional","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maurizio","family":"Agosti","sequence":"additional","affiliation":[{"name":"Rehabilitation Medicine Service, NHS-University Hospital of Parma, Parma, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7174-0805","authenticated-orcid":true,"given":"Federico","family":"Posteraro","sequence":"additional","affiliation":[{"name":"Rehabilitation Department, Versilia Hospital, AUSL Tuscany North West, Camaiore, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco","family":"Franceschini","sequence":"additional","affiliation":[{"name":"Department of Neurorehabilitation, IRCCS San Raffaele Pisana, Rome, Italy"},{"name":"San Raffaele University, Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1123\/mcj.8.4.472"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1161\/01.str.0000019289.15440.f2"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1161\/01.str.0000087172.16305.cd"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1161\/01.str.0000170706.13595.4f"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1056\/nejmx110075"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1159\/000131083"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1310\/tsr1406-22"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1002\/14651858.cd006876.pub4"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.3109\/17483107.2014.1002539"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1682\/jrrd.2010.04.0063"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1177\/1545968316666957"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-11-104"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbmt.2019.03.016"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1682\/jrrd.2010.04.0057"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1177\/1545968309343214"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1097\/phm.0b013e31826bcdc1"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1161\/strokeaha.113.002296"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-11-137"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2011.2175008"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.3233\/rnn-150565"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1109\/toh.2013.73"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-011-0808-1"},{"issue":"2","key":"23","first-page":"240","volume":"53","year":"2016","journal-title":"European Journal of Physical and Rehabilitation Medicine"},{"issue":"1","key":"24","volume":"8","year":"2011","journal-title":"Applied Bionics and Biomechanics"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2005.848352"},{"issue":"1","key":"26","doi-asserted-by":"crossref","first-page":"33","DOI":"10.3233\/NRE-130925","volume":"33","year":"2013","journal-title":"NeuroRehabilitation"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2009.2028831"},{"key":"29","first-page":"3","volume-title":"Time course of recovery during robotic neurorehabilitation of the upper limb in sub-acute and chronic stroke patients","year":"2013"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1177\/1545968311431966"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1177\/1545968307303401"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2012.2190827"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-12-811995-2.00009-6"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-017-0315-1"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.3233\/rnn-180892"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.7717\/peerj.5544"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2012.2195679"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2017.12.005"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.1109\/tnsre.2014.2306571"},{"key":"41","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2017.02.033"},{"key":"42","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-018-0385-8"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.3109\/03790798909166398"},{"key":"44","first-page":"47","volume":"72","year":"2012","journal-title":"Gazzetta Ufficiale della Repubblica Italiana"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0193235"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1016\/j.pmr.2015.06.008"},{"key":"48","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00652.2003"}],"container-title":["Applied Bionics and Biomechanics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2019\/4251089.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2019\/4251089.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/abb\/2019\/4251089.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,12,9]],"date-time":"2019-12-09T20:13:42Z","timestamp":1575922422000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/abb\/2019\/4251089\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,21]]},"references-count":45,"alternative-id":["4251089","4251089"],"URL":"https:\/\/doi.org\/10.1155\/2019\/4251089","relation":{},"ISSN":["1176-2322","1754-2103"],"issn-type":[{"value":"1176-2322","type":"print"},{"value":"1754-2103","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,10,21]]}}}