Table 2 Values of clinical scales and robot-measured variables pre- and post- 20-session training; values of clinical scales and robot-measured variables pre- and post- 20-session training for all subjects after stroke, in which S/E = shoulder and elbow, W/H = wrist and hand ( * , p < 0.05)

Fugl-Meyer scale (S/E) (0–42)

18.5 ± 4.4

22.8 ± 7.2

0.001*

Fugl-Meyer scale (W/H) (0–24)

10.9 ± 4.1

13.4 ± 5.9

0.002*

Fugl-Meyer scale for upper limb (0–66)

29.4 ± 7.7

36.1 ± 12.3

0.001*

Modified Ashworth scale (0–4)

1.3 ± 0.5

0.7 ± 0.7

0.001*

RMSE (deg)

26.4 ± 11.0

21.8 ± 13.8

0.046*

Range of Motion (deg)

53.0 ± 31.4

63.7 ± 32.5

0.058

MIVF torque (Nm)

2.6 ± 2.2

4.2 ± 3.4

0.013*

MIVE torque (Nm)

2.2 ± 2.1

3.3 ± 2.9

0.002*