Fig. 5

User Interface of the RobExReha system for the therapist. In this screen, the therapy session could be planned and adapted: Separate gaming sessions could be added and adjusted in length (german description: “Dauer”), as well as the rest length between the sessions (“Pausezeit zwischen den Spielen”). Additionally, the requirements in terms of range of motion (“Beweglichkeit”) and the support by the robot (“Kraft”) could be adjusted via this interface by the therapist. Under the “Calc-Mode” the paradigm of robotic support (adaptive/non-adaptive) could be chosen;