Table 4.
Outcomes per training modality and features of HRI
| % of groups improved at body functions | % of groups improved at activity level | |||||
|---|---|---|---|---|---|---|
|
Training modality |
Multiple modalities |
Only that modality |
Features of HRI when improved |
Multiple modalities |
Only that modality |
Features of HRI when improved |
| Passive |
56 (19 of 34) |
50 (2 of 4) |
P (2 of 2) |
44 (10 of 23) |
33 (1 of 3) |
P (1 of 1) |
| Passive-mirrored |
43 (6 of 14) |
0 (0 of 2) |
|
15 (2 of 13) |
0 (0 of 2) |
|
| Assistive |
57 (16 of 28) |
33 (2 of 6) |
NC (2 of 2) |
38 (6 of 16) |
0 (0 of 3) |
|
| Active-assistive |
58 (36 of 62) |
58 (14 of 24) |
TA (5 of 14) EMG (4 of 14) PF + SDG (3 of 14) PF + SDG + NC (1 of 14) CF (1 of 14) |
48 (15 of 31) |
36 (4 of 11) |
TA (2 of 4) CF (1 of 4) NC (1 of 4) |
| Path guidance |
86 (6 of 7) |
N/A |
|
50 (2 of 4) |
N/A |
|
| Corrective |
80 (4 of 5) |
N/A |
|
50 (1 of 2) |
N/A |
|
| Resistive |
64 (14 of 22) |
0 (0 of 1) |
|
42 (5 of 12) |
N/A |
|
| Active |
61 (17 of 28) |
N/A |
|
60 (9 of 15) |
N/A |
|
|
Feature of HRI |
Multiple features |
Only that feature |
|
Multiple features |
Only that feature |
|
| Passive |
56 (19 of 34) |
60 (3 of 5) |
|
44 (10 of 23) |
50 (2 of 4) |
|
| Passive-mirrored |
43 (6 of 14) |
0 (0 of 1) |
|
15 (2 of 13) |
0 (0 of 1) |
|
| Moving attractor |
43 (3 of 7) |
0 (0 of 1) |
|
33 (2 of 6) |
0 (0 of 1) |
|
| Triggered assistance |
60 (15 of 25) |
50 (7 of 14) |
|
43 (6 of 14) |
44 (4 of 9) |
|
| Assistive Constant force |
42 (5 of 12) |
20 ( 1 of 5) |
|
17 (1 of 6) |
50 (1 of 2) |
|
| Emg-proportional |
100 (8 of 8) |
100 (5 of 5) |
|
33 (1 of 3) |
33 (1 of 3) |
|
| Pushing force (in case of delay) |
60 (9 of 15) |
N/A |
|
33 (2 of 6) |
N/A |
|
| Spring-damper guidance |
61 (11 of 18) |
N/A |
|
38 (3 of 8) |
N/A |
|
| Tunnels or walls |
100 (2 of 2) |
N/A |
|
0 (0 of 1) |
N/A |
|
| Spring against movement |
60 (6 of 10) |
0 (0 of 1) |
|
20 (1 of 5) |
N/A |
|
| Damper against movement |
75 (6 of 8) |
N/A |
|
60 (3 of 5) |
N/A |
|
| Not clear | 46 (12 of 26) | 50 (5 of 10) | 50 (7 of 14) | 100 (2 of 2) | ||
Abbreviations:
Human Robot Interactions (HRI):
P = Passive
PM = Passive-Mirrored
S = Spring against movement
MA = Moving attractor
TA = Triggered assistance
PF = Pushing force (in case of delay)
EMG = EMG-proportional
T = Tunnels
SDG = Spring-damper guidance
ACF = Assistive constant force
D = Damper against movement
NC = Not Clear