System Framework of Robotics in Upper Limb Rehabilitation on Poststroke Motor Recovery

Table 1

Overview of End-effector upper limb rehabilitation robots.

Groups	Devices	Researchers	DOFs	Driving modes	Control strategies	Training mode	Experimental subject	Functional testing	Clinical scale
End-effector rehabilitation robot	hand-object - hand	Lum et al. [18]	1	The contralateral hand drive	Force control	Active mode	\	\	\
End-effector rehabilitation robot	Bimanual lifting rehabilitator	Lum et al. [19]	2	Motor drive	Force control	Passive mode	Three hemiplegic patients	Lift handles	ADLS improved
End-effector rehabilitation robot	MIT MANUS	Krebs et al. [20]	3	Motor drive	Impedance control	Active mode; Passive mode	Twenty hemiparetic patients	Traction movement	Fugl-Meyer (); Motor power scores (); Motor status score () improved
End-effector rehabilitation robot	MIME	Stanford university [21]	6	Motor drive	EMG signal control; Force control	Active mode; Passive mode	Two subacute stroke patients	Finger and hand motion	Fugl-Meyer, Box and Block test, Jebsen-Taylor test; improved
End-effector rehabilitation robot	ARM Guide	Chicago institute of rehabilitation [22]	3	Motor drive	Impedance control	Active mode; Passive mode	Nineteen hemiparetic patients	Free reaching	Univariate ANOVA statistics; ADLS
End-effector rehabilitation robot	GENTLE/S	University of Reading [23]	3	Motor drive	Position control	Passive mode	Thirty-one patients	\	Multivariate analysis of the Fugl-Meyer improved
End-effector rehabilitation robot	Haptic-robotic exercise platform	Lam et al. [24]	2	Motor drive	Impedance control; Position control	Active mode; Passive mode	Eight healthy subjects	Traction movement	Quantitative data improved; Administered questionnaire improved
End-effector rehabilitation robot	EMUL	Osaka university [103]	6	Hydraulic drive; Motor drive	Impedance control	Active mode; Passive mode	Five hemiparetic patients	Virtual tasks	Ueda; Fugl-Meyer; Motoricity Index improved