Figure 1
From: A survey on robotic devices for upper limb rehabilitation
Examples of mechanical structures of robotic devices for upper limb rehabilitation. A: ARM Guide - simple system using linear bearing to modify orientation [136]; B: InMotion ARM - end-effector-based commercial system [133]; C: NeReBot - cable-driven robot, Ⓒ2007 IEEE. Reprinted, with permission, from [111]; D: ArmeoPower - exoskeleton-based commercial system (courtesy of Hocoma AG).