IEEE Robotics & Automation Magazine - March 2023 - 69

TABLE 3. Games specifications: Capabilities to train and score calculation.
CAPABILITIES TO TRAIN
*POSITION AND
NAME OF
THE GAME
Discover
the Picture
Shopping
Cart
Shapes
Memory
Puzzle
Words
At the Bar
Solitaire
Online
games
X
X
X
X
X
*POSITION
X
X
X
X
X
X
SUSPENSION/
SUPINATION GRASP
X
X
X
X
X
X
X
X
X
X
GRASP AND
SUSPENSION
X
X
X
X
X
PRONATION
AND GRASP
X
X
X
X
X
X
X
Visuospatial skills
Photographic
memory
Visuospatial skills
Cognitive functions
and language skills
Coordinated
movements
Planning, attention,
and visuospatial skills
Cognitive skills
ADDITIONAL
CAPABILITIES
SCORE CALCULATION
/% cleared portions for
each sector
Money spent × game
level
Number of the objects
matched × 100
Number of matched
pairs × 100
Number of pieces
assembled × 100
Number of correctly
identified letters × 100
Number of glasses
completed × 100
Number of cards
correctly positioned × 100
N/A
*All the games are played using the arm movement with the robotic module on the horizontal plane. When the only position is trained, a short stop on
the objects is used for the selection, and a longer stop is used to release them. N/A: not applicable.
An improved version in terms of robustness and esthetic
features has been evaluated by two different studies performed
in Spain [19] and The Netherlands [20], respectively,
which was supported by the MERLIN EIT Health
project. The study in The Netherlands was approved by the
local Medical Ethics Committee of the University Medical
Center Groningen (METc2019/189), and the competent
authority was also informed about the research. On the other
hand, the experimental protocol developed for the trials carried
out in Spain was approved by the Ethical Committee of
Research with Drugs from Cordoba Reference Number 4237
(18/09/2019-Acta 20) and by the Spanish Agency of Drugs and
Medical Devices on 15 October 2019.
Twelve stroke subjects were recruited
from each site, resulting in 24
users in total. Three subjects in Spain
dropped out from the study due to the
COVID-19 situation, while one from
The Netherlands abandoned the study
after 3.5 weeks of rehabilitation with
AA. Table 4 includes the demographic
data of the participants. In both studies,
AA was installed at the subjects'
homes. The System Usability Scale
(SUS), Intrinsic Motivation Inventory
(IMI), and Quebec User Evaluation of
Satisfaction with Assistive Technology
(QUEST) scales were used to evaluate
the usability, acceptance, and user experience. The main
results are shown in Table 4.
Additionally, semistructured interviews with therapists and
users were carried out to gather subjective information about
the feasibility, usability, and motivation to use AA. Most of
the participants reported that they were interested in using AA
for a longer period and that they would recommend its use to
others. This may indicate that they are satisfied with AA in
general. Participants also enjoyed the freedom in determining
when, where, and for how long they do the training sessions
with AA. The device was also considered easy to understand
and use. Although they commented that the mobile base
(a)
(b)
(c)
(d)
(e)
(f)
FIGURE 6. Training games. (a) Discover the Picture. (b) Shopping Cart. (c) Shapes.
(d) Puzzle. (e) Words. (f) At the Bar.
MARCH 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
69

IEEE Robotics & Automation Magazine - March 2023

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