Training condition research on selective DOF constrainable rehabilitation unit with shrinkable electrical and vibratory stimulation timing and duration control system for hemiplegic shoulder-flexion and elbow-extension

In this paper, we evaluate the clinical practicality of our hemiplegic upper limb rehabilitation system. This system consists of a selective DOF constrainable mechanism and a facilitative stimulation timing and duration control system. The selective DOF constrainable mechanism enables the separation of synergic movement during shoulder flexion and elbow extension training by constraining each individual joint to target the training exercise. Furthermore, the facilitative stimulation timing and duration control system allow for controlled intervention timing and duration of shrinkable electrical stimulation (SES) and vibratory stimulation according to the training joint angle and angular velocity. In addition, this rehabilitation system is economical and convenient, because it enables training movements of both the elbow and shoulder using a single device. Moreover, this system is safe because there are no actuators. Clinical trials for stroke patients were carried out using this system. As a result, maximal angular velocities of shoulder flexion and elbow extension training improved significantly in most subjects. In addition, the research suggests that the effectiveness of a combination of SES and vibratory stimulation is better than vibratory stimulation alone. Therefore, clinical experiments demonstrate the clinical practicality of this system.