Robotic Technologies and Rehabilitation: New Tools for Stroke Patients’ Therapy

Table 1

Upper limb robotic systems classification.

Classification	Characteristics
According to the part of the upper; limb on which the therapy is; focused, there are robots specifically designed for:	(1) Unilateral or bilateral shoulder movement; (2) Elbow movement; (3) Wrist movement; (4) Hand movement
According to their mechanical; characteristics, rehabilitation robots can be classified into at least two main groups:	(1) Exoskeleton; (2) Operational machines/end-effectors
According to the control strategy,; robots can be programmed to deliver different exercises. In fact, robotic systems are capable of assisting the motion of the patient in a number of different modes:	(1) Passive movement in which the robotic device; moves the patient’s arm.; (2) Active nonassist mode in which the subject executes the exercise and the robot provides no help.; (3) Active assist mode in which the subject attempts to move, and the robot provides assistance when there are some voluntary but inadequate movements.; (4) Resistive mode when the subject is required to perform an exercise against an antagonist force provided by the robot.; (5) Bimanual exercise in which active movement of the unaffected arm is mirrored by simultaneous active/passive/assistive movement of the affected arm by means of the robotic device.