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| Devices | Characteristics |
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| InMotion robot | 3 active degrees of freedom (DOFs) wrist robot mounted at the
tip of a companion planar robot (MIT-MANUS), allowing 5 active DOFs at the shoulder, the elbow, and the wrist. |
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| Mirror Image Movement Enhancer | 6 DOFs robot manipulator; the treatment focused on shoulder and elbow function; unilateral or bilateral upper limb training. |
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| Bi-Manu-Track | 1 DOF system to train forearm pronation/supination and wrist
flexion/extension; bilateral training in passive or active mode; no feedback to the patient. |
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| Gentle/S | 3 DOFs robot manipulator (HapticMaster, FCS Robotics, The
Netherlands) with an extra 3DOF passive gimbal mechanism (allows for pronation/supination of the elbow as well as flexion and extension of the wrist), an exercise table, computer screen, overhead frame and chair. |
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| Arm robot ARMin | Semiexoskeleton for movement of the shoulder (3DOFs), the
elbow (1DOF), the forearm (1DOF), and the wrist (1DOF); matched with an audio-visual display used to illustrate the movement task to the patient. |
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| Assisted Rehabilitation and Measurement Guide | 4 DOFs robotic device provides arm reaching therapy for patients with chronic hemiparesis; it gives patient a real time visual feedback of the location of the arm. |
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| REHAROB Therapeutic System | Firstly for rehabilitation robotics, uses standard industrial robots,
not modified, but equipped with extra safety systems and a special instrumented orthotic, developed for fixing the patient's limb it provides passive shoulder and elbow physiotherapy. limb; it provides passive shoulder and elbow physiotherapy. |
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| NeuroRehabilitation Robot | 3 DOFs robot, based on direct-drive wire actuation; it gives patient visual and auditory feedbacks; easily transportable. |
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