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

Table 2

Overview of exoskeleton upper limb rehabilitation robots.

Groups	Devices	Researchers	DOFs	Driving modes	Control strategies	Training mode	Experimental subject	Functional testing	Clinical scale
Exoskeleton rehabilitation robot	RUPERT	University of Arizona [28–30]	4	Pneumatic drive	Force control; Impedance control	Passive mode	Eight healthy subjects and two stroke patients	Motion tasks	Fugl-Meyer; Wolf Motor Test improved
Exoskeleton rehabilitation robot	CADEN-7	University of Washington [31, 32]	7	Motor drive; Line drive	Position control	Passive mode	Six subjects	\	ADLS improved
Exoskeleton rehabilitation robot	T-WREX	The university of California [34, 35]	5	Pneumatic drive	Force control	Active mode; Passive mode	Five chronic stroke patients	Self-control experiment	Fugl-Meyer improved
Exoskeleton rehabilitation robot	MAHI Exo II	Rice University [37]	5	Motor drive	Position control	Active mode	/	/	/
Exoskeleton rehabilitation robot	IntelliArm	Northwestern University [38]	10	Motor drive	Force/Position control	Active mode; Passive mode	/	/	/
Exoskeleton rehabilitation robot	MEDARM	Queen University [39]	6	Line drive	Position control	Passive mode	/	/	/
Exoskeleton rehabilitation robot	MARSE ETS	McGill University [40–42]	7	Motor drive	EMG signal control	Active mode	/	/	/
Exoskeleton rehabilitation robot	ARMin	The royal Swiss institute of technology [43]	6	Motor drive	Force control; Impedance control	Active mode; Passive mode	A healthy subject	Traction movement	/
Exoskeleton rehabilitation robot	ARMin II	The royal Swiss Institute of Technology [44, 45]	7	Motor drive	Force control	Active mode; Passive mode	Eight hemiplegic Three incomplete spinal cord injured subjects	Virtual tasks	ADLS improved