Table 3.

Validity and feasibility results for all task metrics on the affected side

Category	Metric	AUC	% impaired	% class. agree.	Corr. FMA	Corr. BBT	Corr. kUDT	Time T1 [min]
Sensory	AE [deg]	0.95	66.67	70.00 (kUDT)	-0.32	-0.37*	-0.48*	3.52 ± 1.82
Motor	Vel. Flex. [deg/s]	0.91	60.00	76.67 (FMA)	0.74***	0.62***	-0.13	3.25 ± 0.55
	Vel. Ext. [deg/s]	0.94	90.00	80.00 (FMA)	0.76***	0.66***	-0.07
	AROM [deg]	0.80	60.00	83.33 (FMA)	0.85***	0.77***	0.14	1.67 ± 0.46
	PROM [deg]	0.69	23.33	47.67 (FMA)	0.58***	0.56**	0.27
	Force Flex. [N]	0.93	83.33	80.00 (FMA)	0.82***	0.69***	0.08	1.50 ± 0.89
	Force Ext. [N]	0.80	40.00	50.00 (FMA)	0.81***	0.73***	0.21
Sensorimotor	RMSE Slow [deg]	0.91	73.33	70.00 (kUDT) $\mid$ 76.67 (FMA)	-0.33	-0.39*	-0.44*	3.80 ± 0.83
	RMSE Fast [deg]	0.92	46.67	70.00 (kUDT) $\mid$ 63.33 (FMA)	-0.43*	-0.45*	-0.39*

AE: Position Matching Absolute Error, Vel. Flex./Ext.: Maximum Velocity Flexion/Extension, AROM/PROM: Active/Passive Range of Motion, Force Flex./Ext.: Maximum Force Flexion/Extension, RMSE Slow/Fast: Tracking Error RMSE Slow/Fast, FMA: Fugl-Meyer Upper Limb Motor Assessment, kUDT: kinesthetic Up-Down Test, BBT: Box & Block Test, AUC: Area Under the Curve of the Receiver Operating Characteristic, % impaired: % of stroke subjects classified as impaired according to z-scores, % class. agree.: % classification agreement as compared to clinical scores, Corr.: Spearman correlation of robotic metric with a clinical score. The defined threshold for discriminant validity was: AUC>0.7. Statistical significance: p-value<0.05: *, p-value<0.01: **, p-value<0.001: ***