End-effector (EE) and exoskeleton (Exo) robots have not been directly compared previously. The present study aimed to directly compare EE and Exo robots in chronic stroke patients with moderate-to-severe upper limb impairment. This single-blinded, randomised controlled trial included 38 patients with stroke who were admitted to the rehabilitation hospital. The patients were equally divided into EE and Exo groups. Baseline characteristics, including sex, age, stroke type, brain lesion side (left/right), stroke duration, Fugl-Meyer Assessment (FMA)-Upper Extremity score, and Wolf Motor Function Test (WMFT) score, were assessed. Additionally, impairment level (FMA, motor status score), activity (WMFT), and participation (stroke impact scale [SIS]) were evaluated. There were no significant differences in baseline characteristics between the groups. After the intervention, improvements were significantly better in the EE group with regard to activity and participation (WMFT-Functional ability rating scale, WMFT-Time, and SIS-Participation). There was no intervention-related adverse event. The EE robot intervention is better than the Exo robot intervention with regard to activity and participation among chronic stroke patients with moderate-to-severe upper limb impairment. Further research is needed to confirm this novel finding.

译文

:之前尚未直接比较末端执行器(EE)和外骨骼(Exo)机器人。本研究旨在直接比较中度至重度上肢损伤的慢性卒中患者的EE和Exo机器人。这项单盲,随机对照试验包括38例中风患者,他们均入了康复医院。将患者平均分为EE组和Exo组。评估了基线特征,包括性别,年龄,中风类型,脑病变侧(左/右),中风持续时间,Fugl-Meyer评估(FMA)-上肢得分和狼运动功能测试(WMFT)得分。此外,还评估了损伤水平(FMA,运动状态评分),活动(WMFT)和参与(中风影响量表[SIS])。两组之间的基线特征无显着差异。干预后,EE组在活动和参与(WMFT功能能力等级量表,WMFT时间和SIS参与)方面的改善明显更好。没有干预相关的不良事件。就中度至重度上肢功能障碍的慢性卒中患者的活动和参与程度而言,EE机器人干预优于Exo机器人干预。需要进一步的研究来证实这一新发现。

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