Preliminary Motor Assessment of a Post-Stroke Rehabilitation and Cognitive Evaluation Protocol Using a Service Robot with Eye-Tracking

The efficacy of upper-limb robotic rehabilitation post-stroke remains uncertain, with potential benefits influenced by training protocols and patient characteristics. Research aims to develop ecological protocols that allow personalized interventions based on impairment, functional abilities, and individual needs. This paper presents a preliminary study on the motor assessment component of a robotic rehabilitation protocol that will integrate motor and cognitive evaluation through eye tracking and kinematic analysis. The approach utilizes a bimanual robotic platform with a front-facing camera to guide subjects through gestures like reaching and bringing the hand to the mouth, adjusting movements based on motor and cognitive responses. Real-time vocal feedback enhances interaction, while movement parameters dynamically adapt to response time, motor performance, and task comprehension. Motor assessment combines data from the robot camera and two additional depth sensors, enabling near real-time kinematic and dynamic analysis, as well as an indirect evaluation of motor control. The cognitive assessment is planned to leverage eye-tracking technology for measuring ocular parameters related to attention and cognitive function. The paper focuses on the motor assessment component, presenting preliminary tests using a fixed-camera setup to refine the protocol for future integration with a mobile robotic platform.