Table 2.

Main electromechanical and robot-assisted arm training devices.

Devices	Characteristics
InMotion robot	3 active degrees of freedom (DOFs) wrist robot mounted at the tip of a companion planar robot (MIT-MANUS), allowing 5 active DOFs at the shoulder, the elbow, and the wrist.
Mirror Image Movement Enhancer	6 DOFs robot manipulator; the treatment focused on shoulder and elbow function; unilateral or bilateral upper limb training.
Bi-Manu-Track	1 DOF system to train forearm pronation/supination and wrist flexion/extension; bilateral training in passive or active mode; no feedback to the patient.
Gentle/S	3 DOFs robot manipulator (HapticMaster, FCS Robotics, The Netherlands) with an extra 3DOF passive gimbal mechanism (allows for pronation/supination of the elbow as well as flexion and extension of the wrist), an exercise table, computer screen, overhead frame and chair.
Arm robot ARMin	Semiexoskeleton for movement of the shoulder (3DOFs), the elbow (1DOF), the forearm (1DOF), and the wrist (1DOF); matched with an audio-visual display used to illustrate the movement task to the patient.
Assisted Rehabilitation and Measurement Guide	4 DOFs robotic device provides arm reaching therapy for patients with chronic hemiparesis; it gives patient a real time visual feedback of the location of the arm.
REHAROB Therapeutic System	Firstly for rehabilitation robotics, uses standard industrial robots, not modified, but equipped with extra safety systems and a special instrumented orthotic, developed for fixing the patient's limb it provides passive shoulder and elbow physiotherapy. limb; it provides passive shoulder and elbow physiotherapy.
NeuroRehabilitation Robot	3 DOFs robot, based on direct-drive wire actuation; it gives patient visual and auditory feedbacks; easily transportable.