Design and Preliminary Evaluation of a Robot-assisted Assessment-driven Finger Proprioception Therapy

Neurological injuries such as stroke often lead to motor and somatosensory impairments of the hand. Deficits in somatosensation, especially proprioception, result in difficulties performing activities of daily living involving fine motor tasks. However, it is challenging to accurately detect those impairments due to the limitations of clinical assessments. Hence therapies rarely focus on proprioception specifically, while such training could promote functional benefits. In this work we propose and preliminarily evaluate a robot-assisted, assessment-driven therapy of finger proprioception. We designed and implemented two therapeutic exercises, one targeting passive and the other active position sense. The difficulty level of the therapy exercises was adapted to each patient's proprioceptive impairment. We evaluated the exercises and their usability with 7 stroke participants and 8 clinicians in a 45-minutes protocol. We found that the exercises were feasible for stroke participants, as 5 individuals progressed in difficulty levels over multiple exercise repetitions, indicating adequacy of the adaptation algorithm. Moreover, usability was rated mostly as satisfactory by the patients (System Usability Scale = 73), and they also found the exercises interesting. Clinicians rated the exercises as difficult but clinically meaningful. Overall, these promising preliminary results pave the way for further development and validation of the proposed therapy approach.