ArticleFrontiers in robotics and AI2026
NeglectARm3D: a robotic and virtual reality platform for the three-dimensional assessment of unilateral spatial neglect.
Article in Frontiers in robotics and AI, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Unilateral Spatial Neglect (USN) significantly impacts functional outcomes post-stroke, yet traditional assessment methods, relying predominantly on two-dimensional (2D) paper-and-pencil tasks, fail to capture the disorder's complexity across three-dimensional (3D) space and, in particular, the role of depth. This paper introduces NeglectARm3D, a platform for the objective and repeatable 3D assessment of USN that integrates the precise kinematic and force measurement of a 7-DOF torque-controlled robot (Franka Research 3) with the immersive 3D stimulus presentation of a commercial head-mounted display (Meta Quest 3). A Cartesian variable impedance controller lets the participant reach freely toward randomized 3D targets (Phase 1, subject in charge), enabling the reconstruction of a volumetric exploration map, and delivers smooth haptic guidance toward neglected targets (Phase 2, robot in charge). As a first step toward clinical deployment, we evaluated the technical behavior, safety, and tolerability of the platform in twelve healthy adults performing thirty reaching trajectories (twenty in Phase 1, ten in Phase 2). The system preserved natural movement velocity (
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