Table 1.

Summary of the features of the devices employed (device classification and brand name) for upper limb rehabilitation.

Exoskeleton	Armeo Power (Hocoma AG, Switzerland)	The device has been specifically designed for arm and hand therapy in an early stage of rehabilitation. It enables even patients with severe movement impairments to perform exercises with high repetitions (high intensity), which is paramount for relearning motor function. It uses sensors and intelligent algorithms to recognize when the patient cannot carry out movement in a 3D space and assists the patient’s arm as much as needed to successfully reach the goal of the exercise in a 2D exergaming.
	Armeo Spring (Hocoma AG, Switzerland)	By providing arm weight support, the Armeo Spring enables patients to use any remaining motor functions and encourages them to achieve a higher number of reach and grasp movements based on specific therapy goals in a 3D space working environment. All activity during the training is based on the patient’s movements. An extensive library of game-like augmented performance feedback exercises have been designed to train core movement patterns commonly used in daily living activities.
End-effector	InMotion 2.0 (Bionik Laboratories, Watertown, MA, USA)	This new generation InMotion ARM® is an evidence-based neurorehabilitation technology that provides patients with real-time Assistance-as-Needed™. The system is used for intensive motor therapy, consisting of two robots that work together to train to reach and grasp and release movements at the same time. The device quietly monitors the patient’s movements during therapy while it gently assists where needed to help them complete various motor therapy activities.
	ARMOTION (Reha Technology AG, Switzerland)	Armotion is a robotic solution in the treatment of severe and moderate neuromuscular dysfunction of the upper extremity. It maximizes the patient’s capability to undertake personal self-care and domestic tasks by rebuilding functional ability and the required skills for independence in daily life. It allows engaging and repeatable exercises with video feedback/videofeedback in a 2D workspace, data collection, and reporting and accurate patient performance assessment.
	MOTORE (Humanware, Pisa, Italy)	MOTORE “Mobile robot for upper limb neurOrtho Rehabilitation” is designed to provide rehabilitation exercises and to measure the person’s progress and performance. It is equipped with motors that actively assist movement to obtain the best rehabilitation: the system supports or opposes movement according to patients’ needs.
	ReoGo™ (Motorika, NJ, USA)	REOGO is a motorized and ergonomic robotic arm, which combines personalized, patient-specific exercises and engaging games. Motorika’s ReoGo™ enables two-or three-dimensional movements, allowing patients who have suffered a stroke or other neurological injuries to essentially retrain the brain through measured repetitive motion and video feedback.