Document Type : Original Research


1 Department of Medical Physics and Biomedical Engineering, School of Medicine, Tehran University of Medical Sciences, Tehran, Iran

2 Research Centre for Biomedical Technologies and Robotics (RCBTR), Advanced Medical Technologies and Equipment Institute (AMTEI), Tehran University of Medical Sciences, Tehran, Iran

3 Department of Physical Medicine and Rehabilitation, Northwestern University, USA

4 Research Center for War-Affected People, Tehran University of Medical Science, Tehran, Iran

5 Department of Physiotherapy, School of Rehabilitation, Tehran University of Medical Science, Tehran, Iran

6 PT and Technical Director of Tabassom Stroke Rehabilitation Center, Tehran, Iran



Background: Patients with experienced stroke have suffered from long-term disability, especially in their distal upper extremities. Physiotherapy programs are considered a proper treatment to overcome the complications caused by stroke. The use of robots in physiotherapy is also considered a newfound procedure as an alternative to conventional methods. 
Objective: This study aimed to describe a feasibility test on a physiotherapy robot and evaluate the efficacy of the proposed device.
Material and Methods: In this experimental study, a 4-degrees-of-freedom robot was designed and fabricated for hand physiotherapy, which was tested on 17 and 4 post-strokes in the passive and active modes for the best efficiency. Additionally, the patient’s hand spasticity was measured according to the Modified Ashworth Scale pre- and post-usage of the device. 
Results: A total of 12 of 17 individuals could do the exercises and follow the instructions without any problem, and 8 of 12 individuals had a decrease in their spasticity. All 4 patients in active-assisted mode could fulfill the activity.  
Conclusion: Physiotherapy based on a robot-assisted is considered a promising method with effective treatments for post-stroke patients, which can be a good alternative to routine methods of physiotherapy. However, more tests are needed to determine the rate of functions’ restoration.