Table A1.

How often would you consider the occurrence probability of the following hazards? (Please provide a numeric value in the interval provided).

Probability of a Hazard for the Wrist and Elbow Rehabilitation System		Please Provide a Value between 0 % of Happening and 100 % of Happening
M1	The arm of the patient may be crushed by the moving mechanism. This hazard may be created by incorrect posture of the patient, wrong parameters introduced in the control system (not suitable for patient movement capabilities), it can even be a consequences of a power failure
M2	The patent may bruise or cut its hand in the edges of the components of the robotic structure. This may occur due to improper design of mechanical components of the robotic system.
M3	Motion limit exceeded. The robot either exceeds the moving capabilities of the patient or the moving mechanism goes over the end stroke limiters.
M4	The patient may crush into the robotic structure. Usually the patient is either carried using a wheelchair or if he can walk is often suspected by sudden loss of equilibrium.
M5	The patient may have sudden spasms resulting in incontrollable motion of the body. The robot should be able to overcome and resist to this situation, allowing in the same time easy removal of the patient’s arm from the rehabilitation device.
E1	Risk of electrocution of the patient.
E2	Harming the patient due to sensor malfunction.
E3	Crush the arm of the patient caused by the malfunction of stroke limiters.
E4	Risk of short-circuit
E5	Overloading the rehabilitation device
T1	The patient may suffer burns by coming into contact with overheating parts of the robot.
N1	Due to the fact that the robot works quite close to the patient, the sound created by moving mechanisms may create some discomfort for the patient.
V1	Patient may be harmed by loose parts from the robotic system.
V2	Patient may be harmed by uncontrolled vibrations of the mechanism.
ER1	The patient may fall due to the fact that he is in a wheelchair.