Table 1 The characteristic of included studies

Burgar (2011)

25(17/18)

60(2)/68(3)

17(3)/ 11(1)(d)

RAT (MIME)

1 h/session, 5 sessions/week for 3w

Whole arm

CT

Function: FM-UE/WMFT

Activity: FIM

Assessment: after-treatment

Burgar (2011)

25(17/18)

60(2)/68(3)

17(3)/ 11(1)(d)

RAT (MIME)

1 h/session, 10 sessions/week for 3w

Whole arm

CT

Function: FM-UE/WMFT

Activity: FIM

Assessment: after-treatment

Byl (2013)

18(5/5/)

59.6(14.6)

8.5(4.5)(y)

Unilateral RAT

(UL-EXO7)

90 min/session, 2 sessions/week for 6w

Whole arm

PT

Function: FM-UE

Assessment: after-treatment

Byl (2013)

18(5/5)

59.6(14.6)

8.5(4.5)(y)

Bilateral RAT

(UL-EXO7)

90 min/session, 2 sessions/week for 6w

Whole arm

PT

Function: FM-UE

Assessment: after-treatment

Calabrò (2019)

50(25/25)

64(3)

10(2)(m

RAT (Amadeo)

45 min/session, 5 sessions/week for 8w

Hand

PT

Function: FM-UE/NHPT

Assessment: after-treatment

Carpinella (2020)

40(19/19)

65(9.61)/58(18.42)

 ≥ 6 months

RAT (Braccio di Ferro)

45 min/session, 5 sessions/week for 4w

Shoulder and elbow

PT

Function: FM-UE/

FM-UE(proximal)/

FM-UE(distal)

Activity: FIM

Assessment: after-treatment

Chen (2021)

20(10/10)

46.20(7.02)/48.60(9.95)

97.10(84.37)/86.40(61.92)

(d)

RAT(Armule)

45 min/day, 5d/w for 4w

Whole arm

Cognitive and Occupational rehabilitation

Function: FM-UE/

Activity: mBI

Assessment: after-treatment

Conroy(2011)

62(20/21)

57.8(10.7)

4.2(5.48)(y)

Robot-assisted planar treatment

(InMotion ARM2.0)

60 min/session, 3 sessions/week for 6w

Whole arm

Conventional arm exercise

Function: FM-UE/WMFT

Activity: FIM

Assessment: after-treatment and

3-month follow-up

Conroy (2011)

62(21/21)

57.8(10.7)

4.2(5.48)(y)

Robot-assisted planar and vertical treatment (InMotion ARM2.0)

60 min/session, 3 sessions/week for 6w

Whole arm

Conventional arm exercise

Function: FM-UE/WMFT

Activity: FIM

Assessment: after-treatment

and 3-month follow-up

Chinembiri.B (2020)

60(30/30)

57.72(7.37)/57.25(9.23)

Acute

RAT + OT

(Fourier M2)

70 min (20minRAT + 50minOT)/day, 5 days/week for 6w

Whole arm

OT

Function: FM-UE

Activity: BI

Assessment: after-treatment

Daunoravicien (2018)

34(17/17)

65.88(4.87)/65.47(4.05)

8.6(3.53)/9.65(6.18) (w)

RAT

(Armeo Spring)

30 min/day, 5 days/week for 2w

Whole arm

OT

Function: FM-UE/MAS/

ROM

Activity: FIM

Assessment: after-treatment

Gandolfi (2019)

32(16/16)

59.31(14.40)/59.13(14.97)

6.0(3.1)/5.1(2.2)(y)

RAT

(Armotion)

45 min/session, 2 sessions/week for 5w

Shoulder and elbow

Conventional treatment

Function: FMA/MRC/MAS

Assessment: after-treatment

Grigoras(2016)

25(13/12)

63(9)/65(11)

4(1) months

RAT

(NMES-robot)

30 min/session,

10–12 session

Whole arm

Standard arm therapy

Function: FM-UE/BBT

Activity: SIS

Assessment: after-treatment

Hesse (2014)

50(25/25)

71.4(15.5)/

69.7(16.6)

4.5(1.7)/4.5(1.4)(w)

RAT + individual arm therapy

(Bi-ManuTrack)

30 min (RAT) + 30 min (individual arm therapy)/day,

5 days/week for 4w

Whole arm

Double sessions

of individual arm therapy

Function: FM-UE/MRC/

BBT

Activity: FIM

Assessment: after-treatment and 3-month follow-up

Hollenstein

(2011)

13(7/6)

54(12)/56(11)

 > 12 months

RAT (NA)

30 min/session, 5 session/week for 2w

Whole arm

CT

Function: FM-UE

Assessment: after-treatment

Hsieh (2011)

18(6/6/6)

54(8)

17(7)/28(20)

(m)

Higher-intensity RT

(Bi-Manu-Track)

90–105 min/session,

5 session/week for 4w

Whole arm

Occupational therapy

Function: FM-UE/MRC/

MAL

Assessment: after-treatment

Hsieh (2011)

18(6/6/6)

54(8)

17(7)/28(20)

(m)

Lower-intensity RT

(Bi-Manu-Track)

90–105 min/session,

5 session/week for 4w

Whole arm

Occupational therapy

Function: FM-UE/MRC/MAL

Assessment: after-treatment

Hsieh (2014)

48(32/16)

53(10)/54(10)

22(14)/28(19)

(m)

RT

(Bi-Manu-Track)

90–105 min/session,

5 session/week for 4w

Whole arm

Occupational therapy

Function: FM-UE/MRC/MAL

Assessment: after-treatment

Hwang (2012)

17(9/6)

50.6(10.0)

6.5(5.3)(m)

2 weeks RAT + 

2 weeks passive therapy

(Amadeo)

45 min/session, 5 sessions/week, 4w

Hand and finger

Passive therapy

Function: NHPT/FM-WH/

FM-proximal arm

Assessment: after-treatment

Hsieh (2017)

31(16/15)

49.28(10.90)/52.87(10.40)

2.56(1.69)/ 2.21(1.11)(m)

RAT + task-oriented approach

(Bi-Manu-Track)

90 min/session, 5 session/week for 4w

Whole arm

Task-oriented approach

Function: FM-UE/BBT/Grip

Activity: FIM/SIS

Assessment: after-treatment

Hsieh (2018)

44(15/18)

54.42

20.58(m)

Proximal-emphasized robotic rehabilitation

(InMotion 2.0)

90–100 min/day, 5 days/week, 4w

Shoulder and elbow

Conventional rehabilitation

Function: FM-UE/

FM-UE(pro)/FM-UE(dis)

/MRC

Assessment: after-treatment

Hsieh (2018)

44(13/18)

54.42

20.58(m)

Distal-emphasized robotic rehabilitation

(InMotion 2.0)

90–100 min/day, 5 days/week,

4w

Shoulder and elbow

Conventional rehabilitation

Function: FM-UE/

FM-UE(pro)/FM-UE(distal)/

MRC

Assessment: after-treatment

Jiang (2021)

45 (23/22)

62.43(11.29)/66(11.51)

20.09(5.53)/19.41(7.04)(d)

RAT

(ArmeoR Spring arm robot)

30 min/session, 2 session/d for 10d

Whole arm

Conventional rehabilitation

Function: FM-UE/

Activity: FIM/BI

Assessment: after-treatment

and follow-up (1 month)

Klamroth-Marganska (2014)

77(39/38)

55(13)/58(14)

52(44)/

40(45)(m)

RAT (ARMin)

45 min/session, 3 session/week, 8w

Whole arm

Conventional therapy

Function: FM-UE/MAS/

WMFT

Activity: SIS

Assessment: after-treatment

Lee (2018)

30(15/15)

52.07(14.07)/50.27(11.17)

 ≥ 7 months

RAT + OT (REJOYCE robot)

30 min RAT + 30 min OT/session

5 sessions/week,8w

Whole arm

60 min OT

Function: FM-UE

Activity: BI

Assessment: after-treatment

Liao (2012)

20(10/10)

55.51(11.17)/54.56(8.20)

23.90(13.39)/

22.20(17.47)(m)

RAT

(Bi-Manu-Track)

90–105 min/session, 5 session/week,4w

Whole arm

Dose-matched active control therapy

Function: FM-UE

Activity: FIM

Assessment: after-treatment

Lo (2010)

127(49/28)

64.6(11.3)

4.7(4.3)(y)

RAT (NA)

1 h/session, 3 session/week,12w

Whole arm

Usual care

Function: FM-UE/MAS/

WMFT

Activity: SIS

Assessment: after-treatment

Lo (2010)

127(49/50)

64.6(11.3)

4.7(4.3)(y)

RAT (NA)

1 h/session, 3 session/week,12w

Whole arm

Comparison rehabilitation treatment

Function: FM-UE/MAS/

WMFT

Activity: SIS

Assessment: after-treatment

McCabe (2015)

25(12/13)

N/A

 > 1 year

1.5 h RAT + 3.5 h motor learning (InMotion2)

5 h/day, 5 days/week,

12w (60session)

Shoulder and elbow

5 h motor learning

Function: FM-UE/AMAT

Assessment: after-treatment

Orihuela-Espina

(2016)

17(9/8)

56.22(13.72)/55.00(25.78)

2.18(1.25)/

2.44(0.88)(m)

RAT (Amadeo)

40 min/session, 5 sessions/week,8w

Hand

OT

Function: FM-hand/MI

Assessment: after-treatment

Page (2013)

16(8/8)

57.0(11.02)

75.0(87.63)

(m)

Robot-assisted task-specific practice

(Myomo e100)

1 h/day, 3 days/week, 8w

Elbow

Task-specific practice

Function: FM-UE

Activity: SIS

Assessment: after-treatment

Qian. (2017)

24(14/10)

54.6(11.3)/ 64.6(3.43)

Subacute

NMES-robotic arm

40 min/session, 5 session/week, 4w

Whole arm

Time-matched traditional therapy

Function: FMA/MAS/

ARAT

Activity: FIM

Assessment: after treatment

and 3-month follow-up

Ranzani. (2020)

27(14/13)

70.00(12.79)/67.46(11.39)

3.14(1.51)/

3.08(1.32)(w)

RAT

(ReHapticKnob)

45 min/day for 15 days

Hand

Conventional neurocognitive therapy

Function: FMA

Assessment: after treatment

and 8-months follow-up

Reinkensmeyer (2012)

27(13/14)

60(10)/61(13)

65(47)/67(56)

(m)

RAT

(Pneu-WREX)

1 h/session, 3sessions/week, 8w (24sessions)

Whole arm

Conventional therapy

Function: FM-UE/

Grip strength/BBT

Assessment: after-treatment

Rodgers

(2019)

770(257/254)

61(14)

42.8(46.6)(w)

RAT

(MIT-Manus)

45 min/session, 3 sessions/week,12w

Whole arm

Usual care

Function: FM-UE/ARAT/

Activity: SIS/BI

Assessment: after-treatment

and 3-month follow-up

Rodgers (2019)

770(257/259)

61(14)

42.8(46.6)(w)

RAT

(MIT-Manus)

45 min/session, 3 sessions/week,12w

Whole arm

Enhanced upper limb therapy

Function: FM-UE/ARAT

Activity: BI/SIS

Assessment: after-treatment

and 3-month follow-up

Sale (a)

(2014)

53(26/27)

67.7(14.2)

30(7)(d)

RAT

(MIT-Manus)

5 session/week, 6w

Shoulder and elbow

Conventional therapy(pt)

Function: FM-UE/

MAS-S/MAS-E/MI/pROM

Assessment: after-treatment

Sale (2014)

20(11/9)

72.56(8.98)

67.0(12.4)

30(7)(d)

RAT

(Amadeo Robotic System)

40 min/session, 5 session/week,4w

Hand

OT

Function:

FM-UE/MI/MRC/BBT

Assessment: after-treatment

and 3-month follow-up

Straudi

(2020)

39(19/20)

66.2(11.5)

39.5(30)(d)

RAT + FES (ReoGo therapy systerm)

100 min/session, 5 session/week, 6w

Whole arm

Intensive conventional Therapy

Function: FM-UE/MAS/BBT/

WMFT

Activity: BI

Assessment: after-treatment

and 6-month Assessment

Susanto

(2015)

19(9/10)

53.2(9.9)

16.4(5.8)/

16.1(5.1)(m)

RAT

(EMG-driven hand robot)

1 h/session,

3–5 sessions/week, 20 sessions in 6w

Hand

Non-robotic therapy

Function:

FM-SE/ FM-WH/FM-total

/WMFT-FT/ARAT

Assessment: after-treatment

and 6-month follow-up

Takahashi

(2016)

60(30/30)

65.2(10.9)/

64.6(11.5)

47.8(7.0)/46.9(8.1)(d)

RAT

(ReoGo system)

40 min/session,7 sessions/week, 6w

Whole arm

Self-guided therapy

Function: FMA/MI/WMFT

Assessment: after-treatment

Takabayashi

(2020)

60(30/30)

63(10.8)

47.7(5.6)(d)

RAT

(ReoGo system)

40 min/session, 5 session/

week for 6w

Whole arm

Self-guided

therapy

Function: FM-UE/ARAT

Activity: SIS

Assessment: after-treatment

Takabayashi

(2022)

78(42/36)

59.0(12)/58.0(10)

 ≥ 6 months

RAT (ReoGo-J)

1 h/session, 3 session/week, for 10w

Whole arm

Self-training + usual care

Function: FM-UE

Assessment: after-treatment

Tarek (2021)

45(30/15)

57.26(4.66)/58.66(4.65)

 ≥ 6 months

RAT

(Amadeo robotic system)

1 h/session, 3 session/week for 4 w

Whole arm

PT

Function: FM-UE

Assessment: after-treatment

Taveggia

(2016)

54(27/27)

73(10)/68(13)

47.8(7.0)/

46.9(8.1)(d)

RAT (Armeo)

30 min/session, 5 session/

week, 6w

Whole arm

Conventional treatment

Function: MI

Activity: FIM(ACTIVITY)

Assessment: after-treatment

Tomić (2017)

26(13/13)

56.5(7.4)/

58.5(5.2)

35.5(9.7)/37.3(7.7)(d)

RAT (ArmAssist)

30 min/session, 5 session/week for 3w

Arm support

PT and OT

Function: FM-UE/WMFT

Activity: BI

Assessment: after-treatment

Villafañe

(2017)

32(16/16)

67(11)/70

(12)

Early subacute phase

RAT + OT/PT

(Gloreha)

30 min RAT + 30 min PT and OT, 3d/week for 3w

Hand

PT and OT

Function: NIHSS/ MAS/ MI/

Activity: BI

Assessment: after-treatment

Wolf (2015)

96(48/48)

59(14)/55(12)

116(53)/127(46)(d)

Home-based robotic-assisted device(HEP) (Hand Mentor Pro)

3 h/day, 5 d/week for 8w

Whole arm

Home exercise program

Function: FM-UE/WMFT

Activity: SIS

Assessment: after-treatment

Wu (2012)

28(14/14)

54.49(9.69)

17.62(10.50)

(m)

RAT

(Bi-Manu-Track)

90–105 min/session,

5 sessions/week,4w

Hand

PT

Function: FM-UE

Activity: SIS

Assessment: after-treatment

Wu (2013)

53(18/18/17)

54.95(9.90)/54.22(9.78)

19.00(15.51)/ 23.41(15.24)

(m)

Unilateral RAT

(Bi-Manu-Track)

90–105 min/day, 5 days/week, 4w

Forearm

Conventional

therapy

Function: WMFT

Activity: the ABILHAND

Questionnaire

Assessment: after treatment

Wu (2013)

53(18/18/17)

52.21(12.20)/54.22 (9.78)

23.28(15.37)/ 23.41(15.24)

(m)

Bilateral RAT

(Bi-Manu-Track)

90–105 min/day, 5 days/week, 4w

Forearm

Conventional

therapy

Function: WMFT

Activity: the ABILHAND

Questionnaire

Assessment: after treatment

Yang (2012)

21(7/7)

51.3(8.24)

13.8(5.7)(m)

Unilateral RAT

(Bi-Manu-Track)

90–105 min/session,

5 sessions/week, 4w

Forearm and wrist

Standard rehabilitation

Function:

FMA-UE/MRC/Grip strength

Assessment: after-treatment

Yang (2012)

21(7/7)

51.3(8.24)

13.8(5.7)(m)

Bilateral RAT

(Bi-Manu-Track)

90–105 min/session, 5 sessions/week, 4w

Forearm and wrist

Standard rehabilitation

Function:

FMA-UE/MRC/Grip strength

Assessment: after-treatment

Yoo (2013)

22(11/11)

51(11)/50(9)

46(42)/42(33)(m)

3-dimensional RAT + CT

(Reogo system)

30 min RAT + 60 min CT, 3d/week for 6w

Whole arm

CT

Function: WMFT/BBT

Activity: mBI

Assessment: after-treatment

Zengin-Metli D

(2018)

35(20/15)

63.27(3.88)/59.25(8.10)

11.33(5.26)/ 10.7(4.9)(w)

RAT (Armeo)

30 min/session, 5 session/week for 3w

Whole arm

Rehabilitation program

Function: FM-UE

Activity: FIM

Assessment: after-treatment