Force sensor-based platform for upper-limb motor function for stroke assessment

In this paper, two kinds of assessment approaches of upper-limb motor function for stroke patients based on task-orientated have been proposed. One is continuous tracking of a series of curve trajectories on 2D plane, for example sinusoid; the other is discrete tracking of distributed targets generated randomly one after another in three dimensions. Both of tracking performances are carried out by manipulating a 6-axises force sensor which is installed on the end-effector of MITSUBISHI robot. Through analyzing results of tracking, it is proved that both of assessment approaches are sensitive; especially, tracking experiments in three dimensions are more comprehensive to assess motor function of upper limb.