|
| System | Assessment | Assignment | Intervention |
| Automatic assessment | Assessment method | Provided outcome | Functional assessment | Therapy planning support | Method | Rehabilitation target | Task-specific training | Method | Interaction | Measurements |
|
| End-effector-type system |
| ACT-3D [61] | No | Offline data analysis | Difference between sessions | FMA | No | N/A | Shoulder; elbow | Yes | Reach (payload simulation) | VR; haptic; auditory | Kinematic data; force |
| ARM GUIDE [62, 63] | No | Offline data analysis | Difference between sessions | CM; RLAFT | No | N/A | Shoulder; elbow | Yes | Passive; active assisted; active resistance | VR; haptic | Kinematic data; force; straightness; smoothness |
| BRACCIO DI FERRO [64, 65] | No | Offline data analysis | Difference between sessions | FMA; MAS | No | N/A | Shoulder; elbow | Yes | Active assisted; active resistance; gravity compensation | VR; haptic | Kinematic data; force; smoothness; accuracy |
| GENTLE/S [66, 67] | No | Offline data analysis | Visual comparison of data trends (slopes) | FMA; MoAS; MAS; NSA; SCT | Yes | Haptic Master software allows the therapist to define the exercise path | Shoulder; elbow | Yes | Passive; assisted; active; trajectory correction | VR; haptic | Kinematic data; force |
| INMOTION ARM [59, 68] | Yes | INMOTION EVAL software; 5 evaluation tests, robot generates 4 evaluation reports | Robot calculates 13 evidence-based measures of motor control that are highly correlated with traditional scales | FIM; FMA; MP; NIHSS | Yes | Selection of the therapeutic exercise games; progress measurement of determined medical necessity; assesses treatment based upon measurable gains | Shoulder; elbow | Yes | Passive; active assisted; active resistance; gravity compensation | VR; haptic | Kinematic and kinetic data (position, direction, distance, area, time, force, smoothness, accuracy); performance measures |
| IPAM [69, 70] | Yes | IPAM software | Virtual environment feedback | FMA | Yes | Automatically generated exercises based on a clinical assessment of the patient (automated tasks) | Shoulder; elbow | Yes | Passive; active resistance; active; reach | VR; haptic | Kinematic data; force |
| MEMOS [71, 72] | Yes | Online data analysis | Score proportional to the voluntary motor activity developed during the task | FMA; MSS; MRC; MP | No | N/A | ARM: not a specific joint | Yes | Passive; active resistance; active | VR; haptic | Kinematic data; force |
| MINE [73] | No | Offline data analysis | Difference between sessions | FMA; MSS; BI; FIM; MP; MAS | No | N/A | Shoulder; elbow | Yes | Passive; active assisted; active resistance; bilateral | VR; haptic | Kinematic data; force [bimanual] |
| NEREBOT [74, 75] | Yes | Online data analysis | Feedback based on patient’s effort | FMA; MRC; FIM; MAS; FAT; BBT | No | Therapist defines the exercise by choosing via points and adjusts robot parameters according to the type of exercise | Shoulder; elbow; forearm | No | Passive; active assisted; active | VR; auditory | Kinematic data; patient effort (cable tension based) |
| REHAROB [76, 77] | Yes | Online data analysis | Feedback based on patient’s effort | FMA; FIM; MAS; RMA; BI; BMR | Yes | Therapist can choose exercises from any therapeutic school (Bobath, Kabat, etc.) | Shoulder; elbow; forearm | No | Passive | N/A | Kinematic data |
| AMADEO TYROMOTION [78–80] | Yes | TyroS software | Difference between sessions | FMA; MRC; MI; MAS; FIM; COPM | Yes | TyroS software creates a therapy report and therapy progress | Hand: prehension | Yes | Passive; active assisted; active | VR | Kinematic data; force; tonus; spasticity |
| BIMANUTRACK [81, 82] | No | Offline data analysis | Difference between sessions | FMA; WMFT; RMA; MAS | Yes | Programming of individually adjusted natural gait trajectories; real-timesimulation of the programmed foot trajectory | Forearm; wrist | No | Active; passive [bilateral] | N/A | Kinematic data; force [bimanual] |
| HWARD [83, 84] | No | Offline data analysis | Difference between sessions | ARAT; BBT; FMA; NIHSS; GDS; NSA; 9-HPT;SIS; MAS | No | N/A | Wrist; hand | Yes | Passive; active assisted; active resistance | VR | Kinematic data; force |
| REOGO [85, 86] | Yes | Advanced management software | Evolution of measurements | FMA; MFT | Yes | Library with a wide range of engaging exercises and games for various rehabilitation objectives | Shoulder; elbow; wrist; hand | Yes | Passive; active; guided; free | VR; haptic | Kinematic data; accuracy; smoothness; force; muscle tone |
| DIEGO [78, 87] | Yes | TyroS software | Evolution of measurement | N/A | Yes | Selection of therapy games | ARM: not a specific joint; shoulder | Yes | Passive; assistive; active; gravity compensation [uni- and bilateral] | VR; haptic | Kinematic data; motoric function; force proprioception |
| Exoskeleton/Orthosis system |
| L-EXOSPERCRO [88] | No | Offline data analysis | Difference between sessions | FMA; MAS; BAS | Yes | Selection of different trajectories in the same virtual environment | Shoulder; elbow | Yes | Active; active assisted; gravity compensation | VR | Kinematic data; force; accuracy |
| MYOPRO [89–91] | No | EMG signals | Difference between sessions | MAS; BBT; FMA; MAL-AOU;MAL-HW | No | N/A | Elbow | Yes | Active assisted | Haptic | Kinematic data; force |
| WREX [92] | No | Offline data analysis | Difference between sessions | N/A | No | N/A | Shoulder; elbow | Yes | Active assisted; gravity compensation | N/A | Kinematic data; force |
| ARMEOSPRING (T-WREX) [93–95] | Yes | Java Therapy 2.0 software | Difference between sessions | FMA; RFT: BBT: BBTD | Yes | Selection of therapy games | Shoulder; elbow; forearm | Yes | Passive; gravity compensation | VR; haptic | Kinematic data; force |
| MENTOR PRO (hand) [96–98] | No | Offline data analysis | Monitoring of patient’s progress in DLA | N/A | No | N/A | Wrist; hand; fingers | No | Active (only extension) | VR | Kinematic data |
| HEXORR [99] | No | Offline data analysis | Difference between sessions | ARAT; FMA; MAS | No | N/A | Metacarpus [interfalangica] | Yes | Passive; active assisted; active; gravity compensation | Haptic | Kinematic data; force grasping patterns |
| RUTGERS MARTER II [100, 101] | Yes | Online data analysis | Performance meter | JTHF; FMA | No | N/A | Hand | Yes | N/A | VR; haptic; auditory | Kinematic data; force |
| SUPINATOR-EXTENDER [102] | No | Offline data analysis | Difference between sessions | N/A | No | N/A | Forearm; wrist | Yes | Active assisted | VR; haptic | Kinematic data; force; grasping patterns |
| T-WREX [95, 103] | Yes | Java Therapy software | Monitoring of a patient’s progress by skilled rehabilitation therapist | FMA; RFT; BBT | No | N/A | Shoulder; elbow; forearm; wrist; hand | Yes | Passive; gravity compensation | VR | Kinematic data; force |
| WOTAS [104] | No | Offline data analysis | Difference between sessions | FTMTRS | No | N/A | Elbow; forearm; wrist | Yes | Tremor control | Haptic | Kinematic data (voltage coming from gyroscopes) |
| ARMEOPOWER (ARM-IN III) [93, 105, 106] | Yes | GIANTS game engine | Difference between sessions | FMA | Yes | Choose from several VR therapy tasks | Shoulder; elbow; forearm; wrist; hand | Yes | Active; passive; active assisted; active resistance; gravity compensation | VR | Kinematic data; force |
| ARM-IN [107, 108] | Yes | Online data analysis | Difference between sessions | N/A | Yes | Allows different therapy modes, robot interface for patient (PRI) and therapist (TRI) | Shoulder; elbow; forearm; wrist | Yes | Passive; active assisted; active | VR; haptic | Kinematic data; force |
| GENTLE/G [109] | Yes | Online data analysis | Performance meter | N/A | Yes | HMI module for interaction between the user and the Gentle robot; database for storing patient information | Shoulder; elbow; hand | Yes | Passive; assisted; active; trajectory correction | VR; haptic | Kinematic data (position, direction, distance); force |
| Rupert [110, 111] | No | Offline data analysis | Difference between sessions | WMFT; FMA | No | N/A | Shoulder; elbow; forearm; wrist | Yes | Passive; active assisted; active | VR; haptic | Kinematic data; force; [motor activity; stroke impact scale; stroke recovery scale] |
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