Exploration and analysis of the optimal prescription of task-oriented upper limb rehabilitation robot for upper limb motor function recovery in hemiplegic patients at the synergistic movement stage after stroke
Cheng Ying
Hu Zimu
Ren Guorong
Gao Xiaoping
Abstract：Objective To explore the optimal prescription of task-oriented upper limb rehabilitation robot for upper limb motor function recovery in hemiplegic patients at the synergistic movement stage after stroke.Methods A total of 112 patients with upper limb hemiplegia after stroke at the synergistic movement stage,who were hospitalized in the Department of Rehabilitation Medicine,the First Affiliated Hospital of Anhui Medical University from April 1,2024 to April 30,2025,were selected.The patients were divided into control group,observation group A,observation group B,and observation group C by random number table method,with 28 cases in each group.The control group received routine rehabilitation training on the basis of basic drug treatment,while observation groups A,B,and C received low-intensity,moderate-intensity,and high-intensity task-oriented upper limb rehabilitation robot training respectively on the basis of basic drug treatment,with an intervention cycle of 4 weeks.The upper limb spasticity[modified Ashworth scale(MAS)score],upper limb motor function[Fugl-Meyer assessment of upper extremity(FMA-UE)score],range of motion,and trajectory tracking error were compared among the groups before intervention(T0),at 2 weeks of intervention(T1),and at 4 weeks of intervention(T2).Linear regression analysis and restricted cubic spline(RCS)model were used to conduct a dose-response analysis between the intensity of rehabilitation exercise training and the improvement of upper limb function.Results Overall analysis showed that the MAS score,FMA-UE score,flexor co-activation rate,Brunnstrom stage,motor space range,and trajectory tracking error in each group improved significantly over time,with statistically significant differences between groups and interaction effects(all P＜0.05).Further comparisons revealed that in observation groups A,B,and C,the MAS score and flexor co-activation rate[observation group A at T0,T,,and T2:(79±4)％,(74±6)％,(67±5)％respectively;observation group B:(79±7)％,(68±7)％,(61±4)％respectively;observation group C:(81±6)％,(77±4)％,(69±6)％respectively]decreased gradually,while the FMA-UE score and motor space range increased progressively,and the trajectory error decreased stepwise(all P＜0.05).The control group also showed certain improvements at T2 compared with T0(all P＜0.05),but the magnitude was less than that of the observation groups.At T1 and T2,all observation groups outperformed the control group(all P＜0.05),with observation group B showing the most significant improvements,which were superior to those of groups A and C(all P＜0.05),while no statistically significant differences were found between group A and group C(all P＞0.05).The Brunnstrom stage showed the most significant improvement in group B at T2.RCS analysis revealed an inverted U-shaped relationship between intervention intensity and FMA-UE score,with the moderate-intensity group achieving the optimal intervention effect.Conclusion Rehabilitation training based on task-oriented upper limb rehabilitation robot can significantly improve upper limb spasticity and motor function,reduce flexor co-activation rate,increase range of motion,and decrease trajectory tracking error in hemiplegic patients at the synergistic movement stage after stroke.The optimal rehabilitation training prescription is 30 minutes per session,5 times a week.
Keywords：Hemiplegia at synergistic movement stageStrokeTask-oriented upper limb rehabilitation robotOptimal prescription
Publication Date：2026-01-18
Online Publishing Date：2026-09-14(First online date of this platform, not the publication date of the document)
Pages：6( 62-67 )