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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
   segment   variation    
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