# Making Best Use of Home-Based Rehabilitation Robots
## 3 Results
The statistical analysis shows there is a significant drop in normalised jerk across the cohort, Table 2. This is shown across all three tests, indicating that the participants movements become smoother across the study. The measures of path length and path length time were also analysed, with \(p\)-values of 0.001 and 0.000, respectively. Both measures correlate to the inverse of the hits score. The more hits a user gets the shorter the path length and path length time. The improvement in clinical scores all showed statistical improvement from the start of the intervention to the end. A more detailed discussion on the clinical scores is found in [32] which shows the median gains for the scores were: FM +1, ARAT +3, CAHAI +5.5, ABILHAND +3, MRC +2, and MAS \(-\)1.5 points. The results were consistent after the washout assessment which implied that the participant's improvements were maintained. Alongside statistical change the minimum clinically important difference (MCID) improvements in all measures were observed in three participants, at least one MCID improvement was seen in eight participants and four participants had no MCID improved change in any measure. The results for the measures showed that the hits-per-minute score was the best measure to show improvement over time. As the hits improved, the path length dropped. The path length time continued to drop inversely as the hits increased. The normalised jerk was the least coupled to the hits per minute score. For this assessment task it is recommended that the hits per minute and normalised jerk be used as the primary outcomes. Figure 3: (**a**) Hits-per-minute at start, middle, and end of intervention; and (**b**) normalised jerk at start, middle, and end of intervention. The results for each participant were stored separately on the computer for analysis. Case studies of profiles show how the robotic assessment task was recorded individually, Figure 4. Although there are improvements across the group, time since stroke shows that there is increased improvement for participants in the early stages. The amount of use of the system also shows increased improvement. Looking at these factors the following case studies show the difference between subacute (less than six months post stroke) and chronic participants, and low and high usage of the system as examples. \begin{table}
\begin{tabular}{c c c c c c c c} \hline  & **Start** & **Middle** & **End** & **End-Start** & **Start–Middle** & **Middle–End** & **Start–End** \\  & **Median** & **Median** & **Median** & **Median** & **_p_ & \(p\) & \(p\) \\  & **(IQR)** & **(IQR)** & **(IQR)** & **(IQR)** & **(IQR)** & **(IQR)** & **(IQR)** \\ \hline FM-UE & 29 & 32 & 1 & n/a & n/a & 0.009 \\  & (19.5–36.5) & (28.5–35.5) & (1.0–4.0) & n/a & n/a & 0.009 \\ \hline ARAT & 23 & 31 & 3 & n/a & n/a & 0.001 \\  & (9.5–44.5) & (16–46.5) & (1.0–4.0) & n/a & n/a & 0.001 \\ \hline CAHAI & 47.5 & 55 & 5.5 & n/a & n/a & 0.001 \\  & (33.3–65.8) & (42.5–71.8) & (4.3–8.5) & n/a & n/a & 0.001 \\ \hline ABILHAND & 17 & 24 & 3 & n/a & n/a & 0.004 \\  & (11.5–24.5) & (16.5–31) & (1–5) & n/a & n/a & 0.004 \\ \hline Total MAS & 12 & 9.5 & \(-1.5\) & n/a & n/a & 0.001 \\  & (7.5–14.5) & (5.5–12.5) & (\(-2.5–0.5\)) & n/a & n/a & 0.001 \\ \hline Total MRC & 38 & 40 & 2 & n/a & n/a & 0.011 \\  & (34.5–39.3) & (38.5–40) & (0–3.25) & n/a & n/a & 0.011 \\ \hline Hists/Minute & 16.2 & 24.8 & 30.7 & 13.4 & 0.000 & 0.008 & 0.000 \\  & (11.4–18.9) & (21.8–32.1) & (24.3–33.8) & (11.6–15.1) & & & \\ \hline Path Length & 571 & 484 & 485 & \(-128\) & 0.003 & 0.023 & 0.003 \\  & (507.8–36) & (469–542) & (460–522) & (\(-348\)—29) & 0.003 & 0.023 & 0.003 \\ \hline Path Length & 3.75 & 2.25 & 1.95 & \(-1.95\) & 0.000 & 0.010 & 0.000 \\ Time & (3.18–4.85) & (1.88–2.65) & (1.78–24.5) & (\(-2.6–1.28\)) & 0.000 & 0.010 & 0.000 \\ \hline Normalised Jerk & 2192 & 724 & 485 & \(-17.99\) & 0.000 & 0.046 & 0.000 \\ \hline \end{tabular}
\end{table} 
Table 2: Clinical and robotic data from the start, middle and end of the intervention.