Hand Rehabilitation Robotics on Poststroke Motor Recovery

Table 1

Different demands in the hand rehabilitation robotics with different training modalities.

Training modalities	Patient		Robot
	Intention	Force	Force
Passive	0	0	+++
Assistive	+	+	+
Active-assistive	++	+/0	0/+
Active	++	+	0
Resistive	++	++	—

For the force of robots/patients: + means the assist of force on motion; − means the more resist of force on motion; 0 means no assist or resist of force on motion. For the intention of patients: + means the participation of patient’s voluntary intention on motion; 0 means no participation of patient’s voluntary intention on motion. The bigger counts are corresponding to the higher requirement to each object.