Table 2.

Exercises included in the traditional and in the robotic rehabilitative training. In the experimental group, exercises in the “Traditional training” column have been replaced with those in the corresponding row of the “Robotic training” column

Traditional training			Robotic training
Headline	Description	Duration (min)	Headline	Description	Duration (min)
Passive mobilization	Subsequent series of movements along different directions, supported by the physiotherapist	15	Passive mobilization	Subsequent series of passive mobilizations, performed applying constant forces to move the hand across the 3-DoFs space	15
Active and assisted mobilization	Subsequent series of movements along different directions, initially assisted by the physiotherapist	15	Active and assisted mobilization	Subsequent series tracing movements along linear trajectories, with a robotic assistance proportional to the distance from the final point	15
Exercise with elastic bands or weights	Subsequent series of contraction along different movement planes, using an elastic band or with gradually increasing weights	20	Reaching with elastic resistance	Subsequent series of reaching across the FE-RUD space, in presence of constant or distance-dependent resistive forces	20
Exercise of manipulation and dexterity	Simulation of daily life activities, supervised by the physiotherapist	40	Tracking	3-DoFs tracking of a moving target in a viscous field	40