Developing a sensory-enhanced robot-aided motor training programme

Wen Liu, Mukul Mukherjee, Soek Hun Kim, Hongzeng Liu, Pradeep Natarajan, Arvin Agah

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


The present study aimed at developing a novel sensory enhancement handle used in robot-aided motor training. The handle provided vibro-tactile stimulation through pins connected to small servomotors inside the handle. When the pressure on the handle indicated an active movement of the subject, the corresponding servomotor(s) was activated to generate vibration on the hand of the subject to enhance the cutaneous sensation during motor training. In a feasibility study, nine chronic stroke survivors were randomly assigned to either a sensory-enhanced robot-aided motor training group (SERMT) or robot-aided motor training (RMT) only group. After 6-week motor training, the total motor status (MS) scores showed significant improvement in both groups. However, when dividing MS scores into two sub-scores for the shoulder/elbow and wrist/hand, significant increases in both sub-scores were shown only in the SERMT group (p < 0.05). Enhanced sensation might increase the gain of robot-aided motor training in stroke survivors.

Original languageEnglish (US)
Pages (from-to)236-243
Number of pages8
JournalInternational Journal of Mechatronics and Automation
Issue number3-4
StatePublished - 2011


  • cutaneous sensation
  • motor training
  • robot
  • sensory enhancement
  • stroke
  • vibro-tactile stimulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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