Movement and force dynamics in bimanual cooperative tasks in chronic stroke and healthy individuals

Podobnik, Janez (avtor), Munih, Marko (avtor), Mihelj, Matjaž (avtor)

Stroke rehabilitation often involves the use of haptic robots to improve motor control and bimanual coordination. This study examines how damping affects movement and force dynamics in bimanual tasks performed by healthy participants and participants with chronic stroke using a haptic robotic system equipped with force sensors for each hand. Participants completed tasks at three damping levels: 0▫$\frac{N}{m/s}$▫ (no damping), 20▫$\frac{N}{m/s}$▫ (low damping), and 40▫$\frac{N}{m/s}$▫ (moderate damping). Key parameters for trajectory of movement, velocity, manipulation force, and internal force were analyzed to assess movement stability and control. The results revealed that damping 20▫$\frac{N}{m/s}$▫ effectively stabilized movements in persons with stroke, reducing velocity deviations and making their performance more comparable to healthy participants, without introducing excessive resistance. In contrast, damping 40▫$\frac{N}{m/s}$▫ acted as resistance training. Participants with stroke exhibited consistently higher internal forces than healthy participants, reflecting compensatory strategies and inefficient motor control. These findings demonstrate that low damping (20▫$\frac{N}{m/s}$▫) offers an optimal balance between movement stabilization and resistance, highlighting its potential as a rehabilitation strategy, while moderate damping (40▫$\frac{N}{m/s}$▫) may be reserved for resistance training.

• Jezik: Angleški jezik
• Ključne besede: bimanual coordination, haptic robot, movement dynamics, cooperative movements
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2025
• Št. strani: Str. 476-484
• Številčenje: Vol. 45, issue 3
• PID: 20.500.12556/RUL-171059
• UDK: 007.52
• ISSN pri članku: 0208-5216
• DOI: 10.1016/j.bbe.2025.07.002
• COBISS.SI-ID: 244313091
• Datum objave v RUL: 30.07.2025

Gradivo je del revije

• Naslov: Biocybernetics and biomedical engineering
• Skrajšan naslov: Biocybern. Biomed. Eng.
• Založnik: PWN
• ISSN: 0208-5216
• COBISS.SI-ID: 9704153

Licence

• Licenca: CC BY-NC-ND 4.0, Creative Commons Priznanje avtorstva-Nekomercialno-Brez predelav 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by-nc-nd/4.0/deed.sl
• Opis: Najbolj omejujoča licenca Creative Commons. Uporabniki lahko prenesejo in delijo delo v nekomercialne namene in ga ne smejo uporabiti za nobene druge namene.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: dvoročna koordinacija, haptični robot, dinamika gibanja, sodelujoče gibanje

Projekti

• Financer: ARIS - Javna agencija za znanstvenoraziskovalno in inovacijsko dejavnost Republike Slovenije
• Številka projekta: P2-0228
• Naslov: Analiza in sinteza gibanja pri človeku in stroju