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Objective <p>This study aimed to evaluate the usability and user experience of the FLEXO-Arm1 upper limb rehabilitation robot among stroke survivors and rehabilitation therapists.</p> Methods <p>A mixed-methods approach was employed, incorporating System Usability Scale (SUS) and User Experience Questionnaire (UEQ) assessments alongside semi-structured interviews. Participants included stroke survivors with varying degrees of upper limb dysfunction and rehabilitation therapists who utilized the FLEXO-Arm1 for Passive Movement Training (PMT) and task-oriented training (TOT).</p> Results <p>Overall SUS scores indicated that stroke survivors rated the robot’s usability higher (A-, 87%) than rehabilitation therapists (B-, 67%). UEQ analysis revealed positive evaluations across all scales, particularly in attractiveness and clarity, with stroke survivors providing higher ratings than therapists. Semi-structured interviews highlighted operational challenges, particularly for those with severe upper limb dysfunction, while affirming the robot’s acceptance and potential as a supplementary rehabilitation tool.</p> Conclusion <p>The FLEXO-Arm1 robot demonstrates favorable usability and user experience for both stroke survivors and therapists. While the device shows promise in rehabilitation settings, enhancements are necessary for users with severe impairments. Further studies should explore the device’s long-term impact on rehabilitation practices.</p>

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Usability testing of an upper-extremity rehabilitation robot for stroke rehabilitation

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年3月11日

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  • Yingnan Lin,
  • Hewei Wang,
  • Li Ding,
  • Qingming Qu,
  • Jianghong Fu,
  • Yifang Lin,
  • Jie Gu,
  • Yanyan Huang,
  • Jie Jia

摘要

Objective

This study aimed to evaluate the usability and user experience of the FLEXO-Arm1 upper limb rehabilitation robot among stroke survivors and rehabilitation therapists.

Methods

A mixed-methods approach was employed, incorporating System Usability Scale (SUS) and User Experience Questionnaire (UEQ) assessments alongside semi-structured interviews. Participants included stroke survivors with varying degrees of upper limb dysfunction and rehabilitation therapists who utilized the FLEXO-Arm1 for Passive Movement Training (PMT) and task-oriented training (TOT).

Results

Overall SUS scores indicated that stroke survivors rated the robot’s usability higher (A-, 87%) than rehabilitation therapists (B-, 67%). UEQ analysis revealed positive evaluations across all scales, particularly in attractiveness and clarity, with stroke survivors providing higher ratings than therapists. Semi-structured interviews highlighted operational challenges, particularly for those with severe upper limb dysfunction, while affirming the robot’s acceptance and potential as a supplementary rehabilitation tool.

Conclusion

The FLEXO-Arm1 robot demonstrates favorable usability and user experience for both stroke survivors and therapists. While the device shows promise in rehabilitation settings, enhancements are necessary for users with severe impairments. Further studies should explore the device’s long-term impact on rehabilitation practices.