Robot-measured kinematic variables are increasingly used in neurorehabilitation to characterize motor recovery following stroke. However, few studies have evaluated the reliability of these kinematic variables. This study aimed at evaluating the test-retest reliability of typically-used robot-measured kinematic variables in healthy subjects (HS) and patients with stroke (SP). Sixty-one participants (40 HS, 21 SP) carried out a planar robot-pointing task on two consecutive days. Nine robot-measured kinematic variables were computed: movement time (T), mean velocity (mV), maximal velocity (MV), smoothness error (SE), number of velocity peaks (nP), mean arrest period ratio (MAPR), normalized path length (NPL), root mean square error (RMS) from a straight line and the orthogonal projection of the last point of movement (LP). Intraclass Correlation Coefficients (ICC), percentage of the Standard Error of Measurement (SEM measured as a percentage of the mean value of the variable (%SEM)) and percentage of the Minimum Detectable Difference (MDD measured as a percentage of the mean value of the variable (%MDD)) were used to analyze the test-retest reliability of the kinematic variables. ICC scores for all kinematic variables were above 0.75 in both groups. %SEM values were below 10% except for MAPR (13.4%) in HS and nP, MAPR and RMS in SP (13.0%, 11.7% and 15.2% respectively). %MDD values were higher for RMS in SP (42.1%) and MAPR in HS (37.1%) and lower for LP (1.6% in HS and 8.1% in SP). The nine robot-measured kinematic variables all demonstrated good reliability, with high ICC values (>0.75) and an acceptable level of measurement error (%SEM<; 16%). However, 3/9 robot-measured kinematic variables, did not appear to be sufficiently sensitive to change (%MDD>30%) to be considered useful in patients with stroke.

中文翻译：

---

上肢机器人康复运动学评估的重测可靠性


机器人测量的运动学变量越来越多地用于神经康复中，以表征中风后的运动恢复。然而，很少有研究评估这些运动学变量的可靠性。本研究旨在评估健康受试者 (HS) 和中风患者 (SP) 中常用机器人测量的运动学变量的重测可靠性。 61 名参与者（40 名 HS，21 名 SP）连续两天执行平面机器人指向任务。计算了九个机器人测量的运动学变量：运动时间 (T)、平均速度 (mV)、最大速度 (MV)、平滑误差 (SE)、速度峰值数量 (nP)、平均停滞期比率 (MAPR)、归一化路径长度 (NPL)、直线均方根误差 (RMS) 以及最后移动点 (LP) 的正交投影。组内相关系数 (ICC)、测量标准误差的百分比（SEM 测量为变量平均值的百分比 (%SEM)）和最小可检测差异的百分比（MDD 测量为变量平均值的百分比）变量（%MDD））用于分析运动学变量的重测可靠性。两组所有运动学变量的 ICC 评分均高于 0.75。除 HS 和 nP 中的 MAPR (13.4%)、SP 中的 MAPR 和 RMS（分别为 13.0%、11.7% 和 15.2%）外，%SEM 值均低于 10%。 SP 中的 RMS (42.1%) 和 HS 中的 MAPR (37.1%) 的 %MDD 值较高，而 LP 的 %MDD 值较低（HS 中为 1.6%，SP 中为 8.1%）。机器人测量的九个运动学变量均表现出良好的可靠性，具有高 ICC 值 (>0.75) 和可接受的测量误差水平 (%SEM<；16%)。 然而，3/9 机器人测量的运动学变量似乎对变化不够敏感 (%MDD>30%)，因此被认为对中风患者有用。