In stroke rehabilitation, simple robotic devices hold the potential to increase the training dosage in group therapies and to enable continued therapy at home after hospital discharge. However, we identified a lack of portable and cost-effective devices that not only focus on improving motor functions but also address sensory deficits. Thus, we designed a minimally-actuated hand training device that incorporates active grasping movements and passive pronosupination, complemented by a rehabilitative game with meaningful haptic feedback. Following a human-centered design approach, we conducted a usability study with 13 healthy participants, including three therapists. In a simulated unsupervised environment, the naive participants had to set up and use the device based on written instructions. Our mixed-methods approach included quantitative data from performance metrics, standardized questionnaires, and eye tracking, alongside qualitative feedback from semi-structured interviews. The study results highlighted the device's overall ease of setup and use, as well as its realistic haptic feedback. The eye-tracking analysis further suggested that participants felt safe during usage. Moreover, the study provided crucial insights for future improvements such as a more intuitive and comfortable wrist fixation, more natural pronosupination movements, and easier-to-follow instructions. Our research underscores the importance of continuous testing in the development process and offers significant contributions to the design of user-friendly, unsupervised neurorehabilitation technologies to improve sensorimotor stroke rehabilitation.

中文翻译：

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可用性设计：开发和评估便携式微驱动触觉手和前臂训练器，用于无人监督的中风康复

在中风康复中，简单的机器人设备有可能增加团体治疗中的训练剂量，并在出院后在家中继续治疗。然而，我们发现缺乏便携式且具有成本效益的设备，这些设备不仅注重改善运动功能，而且还解决感官缺陷。因此，我们设计了一种最小驱动的手部训练设备，该设备结合了主动抓握运动和被动旋后，并辅以具有有意义的触觉反馈的康复游戏。遵循以人为本的设计方法，我们对 13 名健康参与者（其中包括 3 名治疗师）进行了可用性研究。在模拟的无人监督环境中，天真的参与者必须根据书面说明设置和使用该设备。我们的混合方法包括来自绩效指标、标准化问卷和眼动追踪的定量数据，以及来自半结构化访谈的定性反馈。研究结果强调了该设备的整体易于设置和使用，以及其真实的触觉反馈。眼球追踪分析进一步表明，参与者在使用过程中感到安全。此外，该研究为未来的改进提供了重要的见解，例如更直观、更舒适的手腕固定、更自然的旋前运动以及更易于遵循的说明。我们的研究强调了开发过程中持续测试的重要性，并为设计用户友好、无人监督的神经康复技术以改善感觉运动中风康复做出了重大贡献。