Comparisons of Two Types of Rehabilitation Robot for Upper Extremities

Comparisons of Two Types of Rehabilitation Robot for Upper Extremities: 3 Dimension Exoskeleton Type Upper Extremity Robot vs. 2 Dimension End-effector Type Robot): Randomized Controlled Trial

Status

Completed

Phases

Study type

Interventional

Source

ClinicalTrials.gov

Registry ID

NCT03104881

Enrollment

Registered

2017-04-07

Start date

2015-04-30

Completion date

2017-03-31

Last updated

2017-04-12

For informational purposes only — not medical advice. Sourced from public registries and may not reflect the latest updates. Terms

Conditions

Stroke

Keywords

stroke

Brief summary

Comparisons of two types of rehabilitation robot for upper extremities: 3 dimension exoskeleton type upper extremity robot vs. 2 dimension end-effector type robot)

Interventions

DEVICE3D exoskeleton type robot

3 dimension exoskeleton type upper extremity robot

DEVICE2D end-effector type robot

2 dimension end-effector type upper extremity robot

Study design

Allocation

RANDOMIZED

Intervention model

PARALLEL

Primary purpose

TREATMENT

Masking

SINGLE (Subject)

Eligibility

Sex/Gender

ALL

Age

18 Years to No maximum

Healthy volunteers

Inclusion criteria

* Hemiplegic patients secondary to first cerebrovascular accidents * Onset ≥ 3 months * 8 ≤ Fugl-Meyer Assessment score ≤ 30 * Shoulder or elbow flexor spasticity modified ashworth scale ≤ 3 * Cognitively intact enough to understand and follow the instructions from the investigator

Exclusion criteria

* History of surgery of affected upper limb * Fracture of affected upper limb

Design outcomes

Primary

Measure	Time frame
Change of Fugl-Meyer Assessment	Fugl-Meyer Assessment change from baseline at 4 weeks
Wolf motor function test	Fugl-Meyer Assessment change from baseline at 4 weeks

Secondary

Measure	Time frame	Description
medical research council scale of upper extremity	baseline	—
Modified Ashworth scale of upeer extremity	baseline	—
Pain of upper extremity	from baseline to 4 weeks after baseline	Pain complaints from participants
Stroke impact scale	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	—
Smoothness	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during point-to-point
Reach Error	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during point-to-point
Path Error	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during point-to-point
Wolf motor function test	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	—
Maximum velocity	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during point-to-point
Cricle size	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during circle drawing
Cricle independence	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during circle drawing
Intrinsic motivation inventory	4 weeks after baseline	—
stroke rehabilitation motivation scale	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	—
Beck depression index	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	—
Mean velocity	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	Kinematics from Inmotion2 during point-to-point
Motor status score	baseline, 4 weeks after baseline, 8 weeks after baseline, 10 weeks after baseline	—

Countries

South Korea

Outcome results

None listed

Source: ClinicalTrials.gov · Data processed: Feb 4, 2026