Table 2 Overview of the rehabilitation robot included in the review
From: Assessment of movement quality in robot- assisted upper limb rehabilitation after stroke: a review
Rehabilitation robot | Structure | Supported | Controller | Possible therapy | Range of motion | Gravity-compensation | Back-drivability |
|---|---|---|---|---|---|---|---|
| Â | Â | segment | Â | variation | Â | Â | Â |
MIT-MANUS | 2DOF (end-effector) | Forearm | Impedance control | Passive, Resistive | Planar movement | None | Yes |
InMotion2 | 2DOF (end-effector) | Forearm | Impedance control | Passive, Resistive, Assist-as-needed | Planar movement | None | Yes |
InMotion3 | 5DOF (end-effector) | Forearm | Impedance control | Passive, Resistive, Assist-as-needed | 3D movement | None | Yes |
ARM-Guide | 2DOF (end-effector) | Forearm | Impedance control | Passive, Resistive | Constrained linear movement | Yes | None |
MIME | pair of 3DOF (end-effector) | Forearm | Impedance/Admittance control | Passive, Active-assisted, Active-constrained, Bimanual | 3D movement | Yes | None |
Bi-ManuTrack | 2DOF (end-effector) | Forearm | Not specified | Bimanual active, Bimanual passive, Bimanual single active | Planar movement | None | None |
Bilateral force-induced isokinetic arm movement trainer (BFIAMT) | 2DOF (end-effector) | Forearm | Admittance control | Bimanual passive, active-passive, resistive, reciprocal, symmetric | Planar movement | None | None |
Braccio di Ferro (BdF) | 2DOF (end-effector) | Forearm | Impedance control | Active, Active-resisted, Resistive | Planar movement | None | Yes |
REHAROB | two 6DOF robot (end-effector) | Arm, Forearm | Admittance control | Moevement at constant low velocity | 3D movement | Yes | None |
Uni of Guelph Therapeutic Robotic System (CRS-Robotics) | 5DOF (end-effector) | Forearm | Impedance control | Active, Passive, Active-assisted | 3D movement | None | Yes |
MACARM | 6DOF (end-effector) | Arm/Forearm | Impedance control | Gravity assistance | 3D movement | Yes | None |
MEMOS | 2DOF (end-effector) | Forearm | Admittance control | Passive, Active, Active-assisted | Planar movement | None | None |
HapticMASTER/ADLER/BiAS-ADLER | 3DOF (end-effector) | Forearm | Admittance control | Active, Active-constrained, Drink and pour | 3D movement | None | Yes |
KINARM | 2DOF (exoskeleton) | Arm, Forearm | Impedance control | Active-resisted, Bimanual Matching | Planar movement | None | Yes |
L-Exos | 5DOF (exoskeleton) | Arm, Forearm | Impedance control | Impedance assistance, gravity assistance | 3D movement | Yes | Yes |
EXO-UL7 | two 7DOF (exoskeleton) | Arm, Forearm | Neural control | Master-slave bimanual active guidance, unimanual active guidance | 3D movement | Yes | Yes |
T-WREX/ArmeoSpring | 5DOF (exoskeleton) | Arm, Forearm | Impedance control | Passive | 3D movement | Yess | None |
ARMin/ARMin II/ARMin III | 6DOF (exoskeleton) | Arm, Forearm | Impedance/Admittance control | Passive, Active-assisted, Resistive | 3D movement | Yes | Yes |