Quantitative Assessment of Motor Function for Patients with a Stroke by an End-Effector Upper Limb Rehabilitation Robot

Table 6

The average velocity and max velocity during movement.

	(mm/s) ((STD))		(mm/s) ((STD))		Number of peaks and valleys ((STD))
	Healthy subjects	Stroke patients	Healthy subjects	Stroke patients	Healthy subjects	Stroke patients
FWM	24.24 (7.71)	17.06 (9.30)	92.28 (64.54)	108.59 (47.43)	7 (2)	8 (2)
BWM	24.04 (9.66)	18.00 (9.82)	63.25 (20.70)	76.3 (25.76)	6 (2)	8 (2)
AC	23.57 (8.62)	12.58 (7.76)	96.19 (53.91)	112.38 (64.41)	6 (1)	8 (1)

represented ; represented . FWM represented the forward point-to-point reaching movement, BWM represented the backward point-to-point reaching movement, and AC represented the active circle drawing movement. Healthy subjects performed that velocity increased at the early movement, then increased to a stabilized value during the intermediate stage of the movement, and decreased at the last movement shown in Figure 6(b). Patients also performed similar velocity changes during the backward point-to-point movement but not performed the velocity changes during the forward point-to-point movement and circle drawing movement described in Figure 6(a). The average movement velocity during the entire movement in stroke patients was smaller than that in healthy subjects, especially the average movement velocity in stroke patients (12.58) was smaller significantly in statistics with a small effect size (, , ) than that in healthy subjects (23.57) during circle drawing movement. The max velocity in stroke patients was bigger than that in healthy subjects. The number of peaks and valleys during movement in stroke patients (8) was bigger than that in healthy subjects (6) with a significant difference in statistics (FWM, , , (median); BWM, , , (small); AC, , , (large)). Stroke patients performed more velocity changes than healthy subjects during movement.