Baxter: Robot-Assisted Stroke Rehabilitation Based on Patient-Therapist Interactions

Sponsor
University of Pennsylvania (Other)
Overall Status
Active, not recruiting
CT.gov ID
NCT02806843
Collaborator
(none)
65
1
1
103
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Study Details

Study Description

Brief Summary

Our study goal is to assess natural patient-therapist interactions in order to map such human-human activities to robot-human interactions. Critical to accomplishing this mapping will be determining the feasibility of a humanoid robot interacting with a patient in a more intuitive and flexible way, while concomitantly investigating the issue of safe contact and release.

Condition or Disease Intervention/Treatment Phase
  • Device: Rehab InterCap system and 3D Kinect
N/A

Detailed Description

Stroke survivors with varying levels of motor deficit impairment in their upper extremity (UE) will be assessed using standardized clinical scales for cognition and motor impairment. Following assessment, the patient and therapist will complete a therapy session consisting of activities of daily living (ADL).

During the therapy session, visual 3D motion tracking will be used via Kinect, audio will be recorded, and basic measurements (i.e. the distance between a participants wrist and elbow) will be taken. After the patient-therapist interaction has been mapped, members of the research team will build computer based models of the therapist and patient using the insights gained from the human-human interaction. The models developed in this proposed study will be used as a template for programming safe and intuitive humanoid-patient interactions for future study. The model of the therapist will be implemented on the Robot (w/o a patient involved) and in a simulation environment where it will be tested with a computer-based model of the patient.

Study Design

Study Type:
Interventional
Anticipated Enrollment :
65 participants
Allocation:
N/A
Intervention Model:
Single Group Assignment
Masking:
None (Open Label)
Primary Purpose:
Other
Official Title:
Robot-Assisted Stroke Rehabilitation Based on Patient-Therapist Interactions
Study Start Date :
May 1, 2014
Anticipated Primary Completion Date :
May 1, 2022
Anticipated Study Completion Date :
Dec 1, 2022

Arms and Interventions

Arm Intervention/Treatment
Experimental: Stroke survivors and healthy subjects

Stroke survivors greater than 18 years of age with hemiplegia and varying levels of impairment as well as healthy subjects greater than 18 years old with no motor disabilities will be asked to interact with a therapist. The Patient-Therapist interactions will be recorded using the Rehab Intercap System and 3D Kinect Device.

Device: Rehab InterCap system and 3D Kinect
The therapist will conduct a therapy session which will consist of various activities of daily living. During the session, the motion of the therapist and patients will be collected with a custom motion capture system (Rehab InterCap) and 3D visual mapping may take place using the Kinect device, audio will be recorded, and basic measurements of length (i.e. the distance from a participant's shoulder to elbow) will be taken. Patients and therapists will wear the sensors to capture their arm movements. 3D video motion capture may be completed with some subjects. This will involve subjects wearing reflective markers on their upper arms in addition to the intercap sensors.

Outcome Measures

Primary Outcome Measures

  1. Patient-Therapist Interaction Mapping [1 session, about 2 hours in length]

    Using the data collected during the subject's visit to the Rehabilitation Robotics Lab, computer-based models of the therapist and the patient will be devised. These models may be used in future studies with a robot Video collection of patient-therapists in real settings.

Eligibility Criteria

Criteria

Ages Eligible for Study:
18 Years and Older
Sexes Eligible for Study:
All
Accepts Healthy Volunteers:
Yes
Inclusion Criteria:
  • Stroke survivors 18 years of age with hemiplegia and varying levels of impairment

  • Healthy subjects greater than 18 years of age with no motor disabilities

Exclusion Criteria:
  • Under 18 years of age

Contacts and Locations

Locations

Site City State Country Postal Code
1 Penn Medicine Rittenhouse Philadelphia Pennsylvania United States 19146

Sponsors and Collaborators

  • University of Pennsylvania

Investigators

  • Principal Investigator: Michelle J Johnson, PhD, Penn Medicine Rittenhouse

Study Documents (Full-Text)

None provided.

More Information

Publications

None provided.
Responsible Party:
University of Pennsylvania
ClinicalTrials.gov Identifier:
NCT02806843
Other Study ID Numbers:
  • 820068
First Posted:
Jun 21, 2016
Last Update Posted:
Jun 23, 2021
Last Verified:
Jun 1, 2021
Individual Participant Data (IPD) Sharing Statement:
No
Plan to Share IPD:
No
Keywords provided by University of Pennsylvania
Additional relevant MeSH terms:

Study Results

No Results Posted as of Jun 23, 2021