Table 1 Checklist of criteria/guidelines for robotic and sensor rehabilitation technology, based on motor learning principles

   - Training should address function, activity and participation levels by offering strength training, task-oriented/CIMT training, bilateral training.

   - Training should happen in the natural environmental context.

   - Frequent movement repetition should be included.

   - Training load should be patient and goal-tailored (differentiating strength, endurance, co-ordination).

   - Exercise variability should be on offer.

   - Distributed and random practise should be included.

Criteria related to motivational aspects

   - Training should include fun & gaming, should be engaging

   - The active role of the patient in rehabilitation should be stimulated by:

○ therapist independence on system use.

○ individual goal setting that is guided to be realistic.

○ self-control on delivery time of exercise instructions and by feedback that is guided to support motor learning.

○ control in training protocol: exercise, exercise material, etc.

Criteria related to feedback on exercise performance

   - KR (average & summary feedback) and KP should be available (objective standardized assessment of exercise performance is necessity).

   - Progress Components:

○ fading frequency schedule (from short to long summary/average lengths)

○ from prescriptive to descriptive feedback

○ from general (e.g. sequencing right components) to more specific feedback (range of movement, force application, etc)

○ from simple to more complex feedback (according to cognitive level).

   - Empty time slot for performance evaluation before and after giving feedback.

   - Guided self-control on timing delivery feedback.

   - Feedback on error and correct performance.