title: Feasibility of iterative learning control mediated by functional electrical stimulation for reaching after stroke.
abstract: BACKGROUND
  An inability to perform tasks involving reaching is a common problem following stroke. Evidence supports the use of robotic therapy and functional electrical stimulation (FES) to reduce upper limb impairments, but current systems may not encourage maximal voluntary contribution from the participant because assistance is not responsive to performance.
  
  
  OBJECTIVE
  This study aimed to investigate whether iterative learning control (ILC) mediated by FES is a feasible intervention in upper limb stroke rehabilitation.
  
  
  METHODS
  Five hemiparetic participants with reduced upper limb function who were at least 6 months poststroke were recruited from the community. No participants withdrew.
  
  
  METHODS
  Participants undertook supported tracking tasks using 27 different trajectories augmented by responsive FES to their triceps brachii muscle, with their hand movement constrained in a 2-dimensional plane by a robot. Eighteen 1-hour treatment sessions were used with 2 participants receiving an additional 7 treatment sessions.
  
  
  METHODS
  The primary functional outcome measure was the Action Research Arm Test (ARAT). Impairment measures included the upper limb Fugl-Meyer Assessment (FMA), tests of motor control (tracking accuracy), and isometric force.
  
  
  RESULTS
  Compliance was excellent and there were no adverse events. Statistically significant improvements were measured (P <or= .05) in FMA motor score, unassisted tracking for 3 out of 4 trajectories, and in isometric force over 5 out of 6 directions. Changes in ARAT were not statistically significant.
  
  
  CONCLUSIONS
  This study has demonstrated the feasibility of using ILC mediated by FES for upper limb stroke rehabilitation.
authors.affiliation: School of Health Sciences, University of Southampton, Southampton, United Kingdom. ah10@soton.ac.uk
authors.forename: A M
authors.initials: AM
authors.lastname: Hughes
authors.forename: C T
authors.initials: CT
authors.lastname: Freeman
authors.forename: J H
authors.initials: JH
authors.lastname: Burridge
authors.forename: P H
authors.initials: PH
authors.lastname: Chappell
authors.forename: P L
authors.initials: PL
authors.lastname: Lewin
authors.forename: E
authors.initials: E
authors.lastname: Rogers
mesh_terms: D000328:Adult; D000368:Aged; D004599:Electric Stimulation Therapy / Q000379:methods*; D005260:Female; D006801:Humans; D008297:Male; D008875:Middle Aged; D009043:Motor Activity; D010291:Paresis / Q000209:etiology / Q000503:physiopathology / Q000534:rehabilitation*; D020127:Recovery of Function; D012371:Robotics / Q000379:methods / Q000706:statistics & numerical data; D020521:Stroke / Q000150:complications* / Q000503:physiopathology; D000071939:Stroke Rehabilitation; D016896:Treatment Outcome; D034941:Upper Extremity / Q000503:physiopathology*