The authors would like to thank the Spaulding Laboratory of Neuromodulation and Instituto de Reabilita&#231;&#227;o Lucy Montoro for their generous support on this project.

This protocol follows the guidelines of our institution&#39;s human research ethics committee.
1. tDCS
<ol>
	<li>Contraindications and Special Considerations 
	Note: tDCS is a safe technique that sends constant and low direct current through the electrodes, inducing changes in neuronal excitability of the area being stimulated.
	<ol>
		<li>Prior to device setup, confirm that the patient does not have any contraindications to tDCS, such as adverse reactions to previous t...

<ol>
	<li>Miller, E. L., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Comprehensive+overview+of+nursing+and+interdisciplinary+rehabilitation+care+of+the+stroke+patient:+A+scientific+statement+from+the+American+Heart+Association.">Comprehensive overview of nursing and interdisciplinary rehabilitation care of the stroke patient: A scientific statement from the American Heart Association.</a> Stroke. 41 (10), 2402-2448 (2010).</li><li>Adeyemo, B. O., Simis, M., Macea, D. D., Fregni, F. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Systematic+review+of+parameters+of+stimulation,+clinical+trial+design+characteristics,+and+motor+outcomes+in+noninvasive+brain+stimulation+in+stroke.">Systematic review of parameters of stimulation, clinical trial design characteristics, and motor outcomes in noninvasive brain stimulation in stroke.</a> Front Psychiatry. 3 (8), 1-27 (2012).</li><li>Johansson, B. B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Current+trends+in+stroke+rehabilitation.+A+review+with+focus+on+brain+plasticity.">Current trends in stroke rehabilitation. A review with focus on brain plasticity.</a> Acta Neurologica Scandinavica. 123 (3), 147-159 (2011).</li><li>Hummel, F., Cohen, L. G. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Improvement+of+motor+function+with+noninvasive+cortical+stimulation+in+a+patient+with+chronic+stroke.">Improvement of motor function with noninvasive cortical stimulation in a patient with chronic stroke.</a> Neurorehabilitation Neural Repair. 19 (1), 14-19 (2005).</li><li>Lo, A. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+therapy+for+long-term+upper-limb+impairment+after+stroke.">Robot-assisted therapy for long-term upper-limb impairment after stroke.</a> New England Journal of Medicine. 362 (19), 1772-1783 (2010).</li><li>Mehrholz, J., Haedrich, A., Platz, T., Kugler, J., Pohl, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Electromechanical+and+robot-assisted+arm+training+for+improving+generic+activities+of+daily+living,+arm+function,+and+arm+muscle+strength+after+stroke.">Electromechanical and robot-assisted arm training for improving generic activities of daily living, arm function, and arm muscle strength after stroke.</a> Cochrane Database of Systematic Reviews. , (2012).</li><li>Maciejasz, P., Eschweiler, J., Gerlach-Hahn, K., Jansen-Troy, A., Leonhardt, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+survey+on+robotic+devices+for+upper+limb+rehabilitation.">A survey on robotic devices for upper limb rehabilitation.</a> Journal of NeuroEngineering and Rehabilitation. 11 (3), 10-1186 (2014).</li><li>Ang, K. K., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Facilitating+effects+of+transcranial+direct+current+stimulation+on+motor+imagery+brain-computer+interface+with+robotic+feedback+for+stroke+rehabilitation.">Facilitating effects of transcranial direct current stimulation on motor imagery brain-computer interface with robotic feedback for stroke rehabilitation.</a> Archives of Physical Medicine and Rehabilitation. 96 (3), S79-S87 (2015).</li><li>Chang, W. H., Kim, Y. H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robot-assisted+therapy+in+stroke+rehabilitation.">Robot-assisted therapy in stroke rehabilitation.</a> Journal of Stroke. 15 (3), 174-181 (2013).</li><li>Volpe, B. T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+novel+approach+to+stroke+rehabilitation:+robot-aided+sensorimotor+stimulation.">A novel approach to stroke rehabilitation: robot-aided sensorimotor stimulation.</a> Neurology. 54 (10), 1938-1944 (2000).</li><li>Volpe, B. T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+devices+as+therapeutic+and+diagnostic+tools+for+stroke+recovery.">Robotic devices as therapeutic and diagnostic tools for stroke recovery.</a> Archives of Neurology. 66 (9), 1086-1090 (2009).</li><li>Nitsche, M. A., Paulus, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Excitability+changes+induced+in+the+human+motor+cortex+by+weak+transcranial+direct+current+stimulation.">Excitability changes induced in the human motor cortex by weak transcranial direct current stimulation.</a> TheJournal of Physiology. 527 (3), 633-639 (2000).</li><li>Fregni, F., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Transcranial+direct+current+stimulation+of+the+unaffected+hemisphere+in+stroke+patients.">Transcranial direct current stimulation of the unaffected hemisphere in stroke patients.</a> Neuroreport. 16 (14), 1551-1555 (2005).</li><li>Kim, D. Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effect+of+transcranial+direct+current+stimulation+on+motor+recovery+in+patients+with+subacute+stroke.">Effect of transcranial direct current stimulation on motor recovery in patients with subacute stroke.</a> American Journal of Physical Medicine and Rehabilitation. 89 (11), 879-886 (2010).</li><li>Giacobbe, V., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Transcranial+direct+current+stimulation+(tDCS)+and+robot+practice+in+chronic+stroke:+the+dimension+of+timing.">Transcranial direct current stimulation (tDCS) and robot practice in chronic stroke: the dimension of timing.</a> NeuroRehabilitation. 33 (1), 49-56 (2013).</li><li>Hesse, S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Combined+transcranial+direct+current+stimulation+and+robot-assisted+arm+training+in+subacute+stroke+patients:+a+pilot+study.">Combined transcranial direct current stimulation and robot-assisted arm training in subacute stroke patients: a pilot study.</a> Restorative Neurology and Neuroscience. 25 (1), 9-16 (2007).</li><li>Hesse, S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Combined+transcranial+direct+current+stimulation+and+robot-assisted+arm+training+in+subacute+stroke+patients:+an+exploratory,+randomized+multicenter+trial.">Combined transcranial direct current stimulation and robot-assisted arm training in subacute stroke patients: an exploratory, randomized multicenter trial.</a> Neurorehabilitation and Neural Repair. 25 (9), 838-846 (2001).</li><li>Edwards, D. J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Raised+corticomotor+excitability+of+M1+forearm+area+following+anodal+tDCS+is+sustained+during+robotic+wrist+therapy+in+chronic+stroke.">Raised corticomotor excitability of M1 forearm area following anodal tDCS is sustained during robotic wrist therapy in chronic stroke.</a> Restorative Neurology and Neuroscience. 27 (3), 199-207 (2008).</li><li>Ochi, M., Saeki, S., Oda, T., Matsushima, Y., Hachisuka, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effects+of+anodal+and+cathodal+transcranial+direct+current+stimulation+combined+with+robotic+therapy+on+severely+affected+arms+in+chronic+stroke+patients.">Effects of anodal and cathodal transcranial direct current stimulation combined with robotic therapy on severely affected arms in chronic stroke patients.</a> Journal of Rehabilitation Medicine. 45 (2), 137-140 (2013).</li><li>DaSilva, A. F., Volz, M. S., Bikson, M., Fregni, F. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Electrode+positioning+and+montage+in+transcranial+direct+current+stimulation.">Electrode positioning and montage in transcranial direct current stimulation.</a> Journal of Visualized Experiments. (51), (2011).</li><li>Antal, A., Terney, D., Poreisz, C., Paulus, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Towards+unravelling+task-related+modulations+of+neuroplastic+changes+induced+in+the+human+motor+cortex.">Towards unravelling task-related modulations of neuroplastic changes induced in the human motor cortex.</a> European Journal of Neuroscience. 26 (9), 2687-2691 (2007).</li><li>Williams, J. A., Pascual-Leone, A., Fregni, F. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Interhemispheric+modulation+induced+by+cortical+stimulation+and+motor+training.">Interhemispheric modulation induced by cortical stimulation and motor training.</a> Physical Therapy. 90 (3), 398-410 (2010).</li><li>Zimerman, M., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Modulation+of+training+by+single-session+transcranial+direct+current+stimulation+to+the+intact+motor+cortex+enhances+motor+skill+acquisition+of+the+paretic+hand.">Modulation of training by single-session transcranial direct current stimulation to the intact motor cortex enhances motor skill acquisition of the paretic hand.</a> Stroke. 43 (8), 2185-2191 (2012).</li><li>Nitsche, M. A., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Pharmacological+modulation+of+cortical+excitability+shifts+induced+by+transcranial+direct+current+stimulation+in+humans.">Pharmacological modulation of cortical excitability shifts induced by transcranial direct current stimulation in humans.</a> The Journal of Physiology. 553 (1), 293-301 (2003).</li><li>Lindenberg, R., Renga, V., Zhu, L. L., Nair, D., Schlaug, G. M. D. P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Bihemispheric+brain+stimulation+facilitates+motor+recovery+in+chronic+stroke+patients.">Bihemispheric brain stimulation facilitates motor recovery in chronic stroke patients.</a> Neurology. 75 (24), 2176-2184 (2010).</li><li>Fusco, A., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+ineffective+role+of+cathodal+tDCS+in+enhancing+the+functional+motor+outcomes+in+early+phase+of+stroke+rehabilitation:+an+experimental+trial.">The ineffective role of cathodal tDCS in enhancing the functional motor outcomes in early phase of stroke rehabilitation: an experimental trial.</a> BioMed Research International. , (2014).</li><li>Kwakkel, G., Kollen, B. J., Krebs, H. I. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effects+of+robot-assisted+therapy+on+upper+limb+recovery+after+stroke:+a+systematic+review.">Effects of robot-assisted therapy on upper limb recovery after stroke: a systematic review.</a> Neurorehabilitation and Neural Repair. 22 (2), 111-121 (2008).</li><li>Gilliaux, M., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Upper+limb+robot-assisted+therapy+in+cerebral+palsy:+a+single-blind+randomized+controlled+trial.">Upper limb robot-assisted therapy in cerebral palsy: a single-blind randomized controlled trial.</a> Neurorehabilitation and Neural Repair. 29 (2), 183-192 (2015).</li><li>Timmermans, A. A., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effects+of+task-oriented+robot+training+on+arm+function,+activity,+and+quality+of+life+in+chronic+stroke+patients:+a+randomized+controlled+trial.">Effects of task-oriented robot training on arm function, activity, and quality of life in chronic stroke patients: a randomized controlled trial.</a> Journal of NeuroEngineering and Rehabilitation. 11 (1), 45 (2014).</li><li>Hummel, F. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Controversy:+noninvasive+and+invasive+cortical+stimulation+show+efficacy+in+treating+stroke+patients.">Controversy: noninvasive and invasive cortical stimulation show efficacy in treating stroke patients.</a> Brain Stimulation. 1 (4), 370-382 (2008).</li><li>Nair, D. G., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Optimizing+recovery+potential+through+simultaneous+occupational+therapy+and+non-invasive+brain-stimulation+using+tDCS.">Optimizing recovery potential through simultaneous occupational therapy and non-invasive brain-stimulation using tDCS.</a> Restorative Neurology and Neuroscience. 29 (6), 411-420 (2011).</li><li>Nitsche, M. A., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Modulation+of+cortical+excitability+by+transcranial+direct+current+stimulation.">Modulation of cortical excitability by transcranial direct current stimulation.</a> Nervenarzt. 73 (4), 332-335 (2002).</li></ol>

In this protocol, we describe a standard therapy protocol for combined tDCS stimulation associated and robotic therapy, used as a complement to conventional rehabilitation programs in patients with arm impairments. The protocol&#39;s goal is to improve motor function and mobility. It is important to observe the ramping-on and ramping-off of the tDCS machine to avoid any risk of adverse effects. tDCS is a safe technique with few side effects described in the literature2.
<p class="jove_content"...

Neurological disorders such as stroke, cerebral palsy, and traumatic brain injury are leading causes of long-term disability, due to lesions and subsequent neurologic symptoms that can lead to severe incapacity and restriction of daily activities1. Movement disorders significantly reduce a patient's quality of life. Motor recovery is fundamentally driven by neuroplasticity, the basic mechanism underlying the reacquisition of motor skills lost due to brain lesions2,3. Thus, rehabilitation therapies are strongly based on high-dose intensive training and intense repetition of movements to recover strength and range of motion. These repetitive activities are based on daily life movements, and patients may become less motivated due to the slow motor recovery and repetitive exercises, which can impair the success of neurorehabilitation4. Intensive physical and occupational therapy are still considered main treatments, but newer adjunct therapies to standard rehabilitation are being studied to optimize functional outcomes1.
The advent of robotic-assisted therapies has been shown to have great value in stroke rehabilitation, influencing processes of neuronal synaptic plasticity and reorganization. They have been investigated for the training of patients with damaged neurological functions and assisting people with disabilities5. One of the most important advantages of adding robot technology to rehabilitive interventions is its ability to deliver high-intensity and high-dosage training, which otherwise would be a very labor-intensive process6. The use of robotic therapies, along with virtual reality computer programs, allows for an immediate perception and evaluation of motor recovery and can change repetitive actions into meaningful, interactive functional tasks such as cleaning a stovetop7. This can elevate patients' motivation and adherence to the long rehabilitation process and allows, through the possibility of measuring and quantifying movements, tracking of their progress5. Integration of robotic therapy into current practices may increase the efficacy and effectiveness of rehabilitation and enable the development of novel modes of exercise8.
Therapeutic rehabilitation robots provide task-specific training and can be divided into end-effector-type devices and exoskeleton-type devices9. The difference between these classifications is related to how movement is transferred from the device to the patient. End-effector devices have simpler structures, contacting the patient's limb only at its most distal part, making it more difficult to isolate movement of one joint. Exoskeleton-based devices have more complex designs with a mechanical structure that mirrors the skeletal structure of the limb, so a movement of the device's joint will produce the same movement on the patient's limb7,9.
The T-WREX is an exoskeleton-based robot that assists whole arm movements (shoulder, elbow, forearm, wrist, and finger movements). The adjustable mechanical arm allows variable levels of gravity support, enabling patients who have some residual upper limb function to achieve a larger active range of motion in a tridimensional spatial therapy7,9. The MIT-MANUS is an end-effector-type robot that works in a single plan (x- and y-axis) and allows a two-dimensional gravity compensated therapy, assisting shoulder and elbow movements by moving the patient's hand in the horizontal or vertical plane9,10. Both robots have built-in position sensors that can quantify upper extremity motor control and recovery and an interface for computer integration that allows 1) the training of meaningful functional tasks simulated in a virtual learning environment and 2) therapeutic exercise games, which help the practice of motor planning, eye-hand coordination, attention, and visual field defects or neglects7,9. They also allow for the compensation of gravity effects on the upper limb and are capable of offering support and assistance to repetitive and stereotyped movements in severely impaired patients. This progressively reduces assistance as the subject improves and applies minimal assistance or resistance to movement for mildly impaired patients9,11.
Another new technique for neurorehabilitation is transcranial direct current stimulation (tDCS). tDCS is a non-invasive brain stimulation technique that induces cortical excitability changes through the use of low amplitude direct currents applied via scalp electrodes12,13. Depending on the polarity of the current flow, brain excitability can be increased by anodal stimulation or decreased by cathodal stimulation2.
Recently, there has been increased interest in tDCS, as it has been shown to have beneficial effects on a wide range of diseases such as stroke, epilepsy, Parkinson's disease, Alzheimer's disease, fibromyalgia, psychiatric disorders such as depression, affective disorders, and schizophrenia2. tDCS has some advantages, such as its relatively low cost, ease of use, safety, and rare side effects14. tDCS is also a painless method and can be reliably blinded in clinical trials, as it has a sham mode13. tDCS is likely not optimal for functional recovery on its own; however, it is showing increased promise as an associated therapy in rehabilitation, as it enhances brain plasticity15.
In this protocol, we demonstrate combined robot-assisted therapy (with two state-of-the-art robots) and non-invasive neuromodulation with tDCS as a method for improving rehabilitation outcomes, in addition to conventional physical therapy. Most studies involving robotic therapies or tDCS have used them as isolated techniques, and few have combined both, which may enhance the beneficial effects beyond each intervention alone. These smaller trials demonstrated a possible synergistic effect between the two procedures, with improved motor recovery and functional ability8,15,16,17,18,19. Therefore, novel multi-modal therapies may enhance movement recovery beyond the current possibilities.

<table border="0" cellpadding="0" cellspacing="0" style="width:743px;" width="743">
	<tbody>
		<tr height="21">
			<td height="21" style="height:21px;width:216px;">tDCS device</td>
			<td style="width:241px;">Soterix Medical</td>
			<td style="width:119px;"></td>
			<td style="width:167px;">Soterix Medical 1x1</td>
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		<tr height="21">
			<td height="21" style="height:21px;width:216px;">9V Battery (2x)</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
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			<td height="21" style="height:21px;width:216px;">Two rubber head bands</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
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		<tr height="42">
			<td height="42" style="height:42px;width:216px;">Two conductive rubber electrodes</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
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			<td height="21" style="height:21px;width:216px;">Two sponge electrodes</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
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			<td height="21" style="height:21px;width:216px;">Cables</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:216px;">NaCl solution</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:216px;">Measurement tape</td>
			<td style="width:241px;"></td>
			<td style="width:119px;"></td>
			<td></td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:216px;">Armeo Spring Robot</td>
			<td style="width:241px;">Hocoma</td>
			<td style="width:119px;"></td>
			<td></td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:216px;">inMotion ARM</td>
			<td style="width:241px;">Interactive Motion Technologies</td>
			<td style="width:119px;"></td>
			<td></td>
		</tr>
	</tbody>
</table>

the combined use of transcranial direct current stimulation and robotic therapy for the upper limb

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of daily activities due to lower and upper limb impairments. Intensive physical and occupational therapy are still considered main treatments, but new adjunct therapies to standard rehabilitation that may optimize functional outcomes are being studied.
Transcranial direct current stimulation (tDCS) is a noninvasive brain stimulation technique that polarizes underlying brain regions through the application of weak direct currents through electrodes on the scalp, modulating cortical excitability. Increased interest in this technique can be attributed to its low cost, ease of use, and effects on human neural plasticity. Recent research has been performed to determine the clinical potential of tDCS in diverse conditions such as depression, Parkinson&#39;s disease, and motor rehabilitation after stroke. tDCS helps enhance brain plasticity and seems to be a promising technique in rehabilitation programs.
A number of robotic devices have been developed to assist in the rehabilitation of upper limb function after stroke. The rehabilitation of motor deficits is often a long process requiring multidisciplinary approaches for a patient to achieve maximum independence. These devices do not intend to replace manual rehabilitation therapy; instead, they were designed as an additional tool to rehabilitation programs, allowing immediate perception of results and tracking of improvements, thus helping patients to stay motivated.
Both tDSC and robot-assisted therapy are promising add-ons to stroke rehabilitation and target the modulation of brain plasticity, with several reports describing their use to be associated with conventional therapy and the improvement of therapeutic outcomes. However, more recently, some small clinical trials have been developed that describe the associated use of tDCS and robot-assisted therapy in stroke rehabilitation. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

Non-invasive brain stimulation with tDCS has recently generated interest due to its potential neuroplastic effects, comparatively inexpensive equipment, ease of use, and few side effects22. Studies have shown that neuromodulation by tDCS has the potential to modulate cortical excitability and plasticity, thus promoting improvements in motor performance through synaptic plasticity by stimulating the primary motor cortex4. Anodal stimulation i...

Watch this Scientific Journal Video about The Combined Use of Transcranial Direct Current Stimulation and Robotic Therapy for the Upper Limb at JoVE.com

The Combined Use of Transcranial Direct Current Stimulation and Robotic Therapy for the Upper Limb

The combined use of transcranial direct current stimulation and robotic therapy as an add-on for conventional rehabilitation therapy may result in improved therapeutic outcomes due to modulation of brain plasticity. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of ...

Neurological disorders such as stroke, cerebral palsy and traumatic brain injury, are leading causes of long term instability reducing a patient's quality of life. Motor recovery is driven by neuroplasticity. Thus, rehabilitation therapies are strongly based on high dose, intensive training, and intense repetition of movements as to allow the recovery of strength and range of motion.The advent of robot assistive therapy has been shown of great value to the rehabilitation, influencing process of neuroplasticity and heregonization. The most important advantage of using robot technology and rehabilitation intervention is the ability to deliver high dosage and high intensity training which otherwise would be a very labor-intensive process. It also allows an immediate perception and evaluation of motor recovery, and can also turn repetitive actions into meaningful interactive functional tasks.Another new technique being developed for rehabilitation is the tDCS, which is the shorter for transcranial direct current stimulation. tDCS is a low-evasive brain stimulation technique which allows the changes in current excitability through the use of low-intensity electrical cortical stimulation applied over this count. tDCS, transcranial direct current stimulation, has generated much attention lately from researchers and also clinicians.There are several reasons to explain. The main reason is due to its effects on neuroplasticity, and the other reasons are because tDCS device is cheap and also because tDCS is an easy technique to use. tDCS has been studied for several types of diseases, such as epilepsy, Parkinson's, depression and stroke.However, tDCS is unlikely optimal for functional recovery on its own, but it is showing increasing promise as an adjunct therapy in rehabilitation as it enhances brain plasticity. Most studies involving robotic therapies or tDCS use them isolated. Few studies were done combining both of them which could possibly enhance their beneficial effects beyond each intervention alone.These few small trials demonstrated a possible synergistic effect between these two procedures with improved motor recovery and functional ability. In this video, we describe the combined methods used in our institute for improving motor performance after stroke. tDCS can be used either before or during robotic rehabilitation as demonstrated in the medical literature.Equipments needed:tDCS device, cables, rubber bands, sponges, sodium chloride solution, measuring tape, electrodes, battery. The stimulation location will be found through the measurement of scalp. Using the convention of the EEG 10/20 system, as described in our previous article.In this protocol, we will stimulate the primary motor cortex, or M1.To locate this point, calculate 20%of the auricular measurement. This spot should correspond to C3/C4 EEG location. Place the electrode on the center of this spot, and the secondary electrode over the contralateral super orbital region.After preparing the skin and localizing the stimulation site, After tDCS, refer patients to undergo robotic therapy. In this protocol, we will describe the use of the commercial of the MIT-Manus and T-WREX. The robot has several therapy protocols, allowing patients to practice motor-planning, eye-hand coordination, attention and mass practice.The therapeutic exercises and games practice both wrist flexion and extension, along with radial and ulnar deviation. The video screen shows cues of the tasks that the subject needs to perform and constantly gives feedback of the position of the arm. On a robotic therapy session, the therapist selects the appropriate treatment protocol and the robot may provide real-time assistance if necessary.The MIT-Manus arm allows the training of the elbow flexion and extension, shoulder protraction and retraction, and shoulder internal and external rotation on a horizontal plane. The robot will only assist the patient if necessary. For example, if the subject cannot realize the intended movement within two seconds, the machine will help complete its movement.If the subject has not enough motor coordination to carry out the intended movement, the robot will guide the subject's arm to do the appropriate movement. The robot software has several therapeutic exercise games for motor training. The visual feedback usually consists in a yellow ball that the patient must move between targets.Other training scenarios are available. The T-WREX consists of an exoskeleton that fits the subject's arm and allows him to move his shoulder, elbow, and wrist joints freely in a tri-dimensional setting. The adjustable mechanical arm allows variable levels of gravity support by means of a spring mechanism, enabling patients with residual upper limb function to achieve a larger active range of motion.The compensation for the arm goes from A to I and A to E for the forearm. It consists of a linear scale of gravity support where A has no gravity support. Therapy protocols and games included allows the training of task-specific functions by moving the exoskeleton across a 3D workspace.By combining movements of the shoulder, forearm, elbow, and wrist, the robot allows a task-specific repetitive training. A training session usually lasts about 60 minutes. In each session, the individual performs about 72 repetitions of the movement towards different functional targets.Between each movement, allow a 10-second interval in order to prevent fatigue. The robots demonstrated on this video can be used as part of the rehabilitative program for several neurological injuries, including stroke, cerebral palsy, and spinal cord injury. They offer the ability of even severely impaired users to train independently and benefit from highly intensive repetitive and self-initiated movement therapy with increased user motivation.Non-invasive brain stimulation with tDCS has generated much interest recently due its potential neuroplasticity effects, comparatively inexpensive equipment, ease of use, and few side effects. Studies have shown that neuromodulation with tDCS has the potential to modulate cortical excitablity and plasticity, thus promoting additional improvements in motor performance through long-term potentiation by stimulating the primary motor cortex. Previous studies have reported electrophysiological effects of tDCS lasting up to 90 minutes, and behavioral effects lasting up to 30 minutes after a single tDCS session of 20 minutes.The evidence is still, however, controversial, as the positive findings are not consistent. A previous trial found functional motor improvement after bihemispheric stimulation that outlasted the intervention period. The evidence for robotic therapy in rehabilitation is more prominent, demonstrating clear incremental reductions of motor impairment.However, due to the large number of manufacturers and several types of robotic devices, each machine has their own properties, qualities and limitations. A multi-center, randomized controlled trial found that chronic stroke patients with moderate to severe upper limb impairment had significant but modest improvement in arm function, movement, and quality of life after robotic training over the 36-week study period as compared to usual care, but not with intensive physical therapy. While trials of neurorehabilitation with separate tDCS or robotic therapies have been done before, few trials were conducted combining these therapies.A previous trial evaluated the dimension of timing in combined robotic therapy with tDCS for wrist rehabilitation in chronic stroke patients. The authors found that wrist movement speed and smoothness was improved over 15%when tDCS was delivered prior to a 20-minute session of robotic training. The present paper aimed to describe a standard therapy protocol for combined noninvasive brain stimulation and robot-assisted movement therapy, used as an adjunct to conventional therapy, in patients with deficits in arm function in order to improve motor skill.tDCS and robotics show significant motor effects but most of these studies show these effects when these techniques are used in isolation. What is important to explore is when we combine these two techniques it is possible to enhance their effects on more recovery. Robotic therapy endues an increase of cortical excitability in the brain and an increase of afferent input to the brain.These combined with tDCS may result in a better motor outcome due to the synergetic effect of those therapies combined.

the-combined-use-transcranial-direct-current-stimulation-robotic

Research

JoVE Journal

Neuroscience

8.9K 조회수.  Instituto de Reabilitação Lucy Montoro. 뇌졸중, 뇌성 마비 및 외상성 뇌 손상과 같은 신경 장애는 환자의 삶의 질을 줄이는 장기적인 불안정의 원인을 선도하고 있습니다. 모터 회복은 신경 가소성에 의해 구동됩니다. 따라서, 재활 치료는 강도와 운동 범위의 회복을 허용하기 위해 고용량, 집중 훈련 및 운동의 강렬한 반복에 강하게 기초한다.로봇 보조 치료의 출현은 재활에 큰 가치를 보여 주었다, 신경 가?...