Figure 2.

Twelve kinds of upper-limb rehabilitation movements designed for stroke patients are listed as follows: (a) posterior extension of shoulder (action1); (b) shoulder backstretch return (action2); (c) shoulder adduction (action3); (d) shoulder anterior flexion (action4); (e) shoulder forward flexion return (action5); (f) shoulder abduction (action6); (g) feeding action (action7); (h) feeding return action (action8); (i) pant move (action9); (j) pant return move (action10); (k) elbow flexion (action11); (l) elbow extension (action12).