Table 1.
Overview of the evaluation activity performed in robot-assisted rehabilitation
| Evaluation activity | Body plane | Evaluation objectives | Aspect of movement quality addressed | Studies |
|---|---|---|---|---|
| Center-out point-to-point (CO-PTP) | Transverse | Feed-forward and Feedback control | Temporal efficiency, Ease, Smoothness, Accuracy, Planning, Efficacy, Movement efficiency, Inter-limb coordination, Range | [1, 18, 20, 44–49] |
| Frontal | Feedback control, Gravity-compensation | Temporal efficiency, Smoothness | [50, 51] | |
| Point-to-Point Reaching | Transverse | Feed-forward, Feedback control, Perturbation- compensation | Temporal efficiency, Ease, Smoothness, Planning, Movement efficiency | [10] |
| Sagittal/Frontal | Range of motion, Feed-forward and Feedback control, Gravity-compensation | Planning, Temporal efficiency, Smoothness, Range | [22, 22, 45, 52–59] | |
| Free/Constrained/Targeted Reaching | Sagittal/Frontal | Range of motion, Perturbation-compensation, Feed-forward and Feedback control, Gravity-compensation | Planning, Temporal Efficiency, Range, Smoothness, Movement Efficiency | [29, 60] |
| Shape drawing | Transverse | Untrained activity, synergy | Accuracy, Intra-limb coordination | [39] |
| Shape tracing/tracking | Transverse | Synergy, Feedback control | Accuracy, Efficacy, Ease, Smoothness | [13, 17, 21, 27, 59, 61, 62] |
| Frontal | Synergy, Feedback control | Ease, Accuracy | [63] | |
| Bimanual matching | Transverse | Somatosensory (Proprioception) | Planning, Movement efficiency, Ease | [19, 20, 64] |
| Bimanual reaching | Sagittal | Somatosensory, Coordination | Inter-limb coordination, Efficacy, Ease | [59, 65] |
| Isolated movement | All | Range of motion | Range | [66–68] |
| Activity of daily living | All | Functional ability | Inter-limb coordination, Temporal efficiency | [7] |
| Virtual games | All | Functional ability | Range | [67, 92] |