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

Table 3

The classification of control strategy.

Term	Description	Standard of classification
Maciejasz et al. [62]	“High-level” control strategy; (i) Assistive control; (ii) Challenge-based control; (iii) Haptic stimulation; (iv) Couching control	The function of control systems
	“Low-level” control strategy; (i) Admittance control; (ii) Impedance control
Gopura et al. [63]	Based on input information; (i) Human biological signal based control methods; (ii) Nonbiological signal-based control methods; (iii) Platform-independent control methods	The position of signals
	Based on output information; (i) Different controller architecture
Anam et al. [64]	Model system; (i) Dynamic; (ii) Muscle	Control system architectures
	Physical parameters; (i) Position; (ii) Torque/force; (iii) Force interaction
	The hierarchy; (i) Task level; (ii) High level; (iii) Low level
	Usage; (i) Virtual reality; (ii) Teleoperation; (iii) Gait
Marchal-Crespo et al. [65]	Assistive controllers; (i) Impedance-based assistance; (ii) Counterbalancing assistance; (iii) EMG-based assistance; (iv) Performance-based adaption of task parameter	Type of human-machine interaction
	Challenge-based robotic therapy control algorithms; (i) Resistive strategies; (ii) Constraint-induced strategies; (iii) Error-amplification strategies
	Haptic simulation strategies; (i) Virtual reality
	Noncontacting coaches; (i) Noncontacting coaches
Sicur et al. [66]	Passive; Active unassisted; Active assisted; Resistive	Training modes
Proietti et al. [67]	Assistive mode; Passive control; Triggered passive control; Partially assistive control; Corrective mode; Tunneling; Coordination control; Resistive mode	Training modes