Figure 1

Crossover study design. All participants took part in the single joint and multijoint functional robotic training programs, with the order randomized. Subjects in Sequence A received single joint robotic training first, followed by a 1-week break, and then received multijoint functional robotic training. Subjects in Sequence B participated in the multijoint functional robotic training first, followed by a 1-week break and then participated in the single joint robotic training. Each period of training lasted 4 weeks. Two clinical assessments were conducted at baseline (Assessment 1), one after the first robotic training period (Assessment 2), one after the second robotic training period (Assessment 3) and one at a 3-month follow-up assessment (Assessment 4).