Table 2.

Study characteristics of reviewed studies

Study	Aim(s)	Design	Sample	Condition and target area of rehabilitation	Method of data collection and analysis
Ates et al., 2014 [58]; Three EU countries (unspecified)	To report on the technical challenges presented by the use of SPO and the feedback from therapists and patients	Technical & performance evaluation	24 patients; 33–81 years; 11 m and 9 f No information about the therapists	Stroke; hand impairment	Clinical observation and descriptive summary into themes
Beveridge et al., 2015 [34]; Canada	To explore the experiences and perspectives of parents whose young, ambulatory children with CP were undergoing Lokomat gait training, and consider how parents' values about walking influenced therapy decisions for their children	Qualitative descriptive design	5 mothers and 1 fathers of 5 (4 m and 1 f) children; children aged 5–11 years; 2 parents were Anglo-Canadian and the others from Asian backgrounds	Cerebral palsy; walking rehabilitation	Individual, semi-structured, face-to-face interviews; followed the Dierckx de Casterle approach to analysis of qualitative data: the Qualitative Analysis Guide of Leuven (QUAGOL)
Bezmez and Yardimci, 2016 [54]; Turkey	To explore the role of a robotic gait training device (Lokomat) and its role in rehabilitation in Turkey	Ethnographic study	42 participants; 7 doctors, 2 nurses, 2 physiotherapists, 2 non-medical personnel, 20 in-patients, and 9 former patients	Traumatic injury or illnesses; bodily disability and inability to walk	Individual, semi-structured interviews; no information provided on the method of analysis
Cahill et al., 2018 [25]; Ireland	To gain an understanding of the experience of using a RWD within a gym-based setting from the perspective of non-ambulatory individuals with SCI	Qualitative methodology	4 males and 1 female; mean age 40.75	Spinal cord injury; walking rehabilitation	In-depth semi-structured interviews; thematic analysis
Danzl et al., 2013 [41]; USA	To investigate the feasibility of combining tDCS to the LE motor cortex with novel locomotor training to facilitate gait in subjects with chronic stroke and low ambulatory status; and to obtain insight from participants and their carers to inform future trial design	Mixed methods: a double-blind, sham-controlled, randomized quantitative design and an exploratory descriptive qualitative design	Final sample 8 patients; 4 males and 4 females; mean age of 67.8 years (range, 44–80 years)	Stroke; lower limb (gait) rehabilitation	Semi-structured interviews; inductive thematic analysis
Eicher et al., 2019 [27]; Germany	To identify differences regarding usability, acceptability, and barriers of usage of a robot-supported gait rehabilitation system between a younger and older group of patients with gait impairments	Pilot/feasibility study assessing system usability of a robot-supported gait rehabilitation system between a younger and older group of patients with gait impairments	13 completed all sessions; 7 were older patients (group G: 75 mean age, range 69–84), 6 were younger patients (group Y: 36 mean age, range 20–55); 11 male and 2 females	Stroke/brain haemorrhage, hemiplegia, other (e.g., accidents, falls, not specified); gait rehabilitation	Structured interviews; qualitative content analysis by Mayring (2010)
Elnady et al., 2018 [35]; Canada	To describe users’ perceptions about existing wearable robotic devices for the upper extremity; identify if there is a need to develop new devices for the upper extremity and the desired features; and to explore obstacles that would influence the utilization of these new devices	Exploratory focus group discussions	Group 1: 8 people with stroke (1 f and 7 m); Group 2: 8 therapists: 4 Physiotherapists, 2 Occupational therapists; 2 Rehabilitation assistants (8 f)	Stroke; upper limb rehabilitation	Focus groups; thematic analysis
Flynn et al., 2019 [53]; Australia	To explore occupational therapists’ and physiotherapists’ perceptions of robotic therapy for the upper limb and the perceived barriers and enablers influencing implementation	Qualitative methodology involving two discipline-specific focus groups	12 participants: 6 occupational therapists (mean age = 29 years, range = 24–39) and 6 physiotherapists (mean age = 30, range = 23–51); 9 female and 3 males	Stroke; upper limb movement at the shoulder, elbow and hand (with the wrist fixed in neutral or pronation)	Focus groups; data were deductively analysed using the Theoretical Domains Framework (TDF)
Gilbert et al., 2018 [46]; UK	To determine whether or not the MUJO System was acceptable to patients with shoulder dysfunction and their rehabilitation professionals	Qualitative study	10 patients (median age was 38.5 years, range = 19–54; 5 f and 5 m) and 7 physiotherapists	Shoulder instability (n = 6) and rotator cuff related pain (n = 4); rehabilitation of the rotator cuff muscles (bi-articular muscles or multiple axial joints)	Interviews; Directed Content Analysis was undertaken to organise the qualitative data according to the four constructs of Normalisation Process Theory (NPT)
Heinemann et al., 2018 [28]; USA	To describe clinicians’ experiences, evaluations, and training strategies using exoskeletons in rehabilitation and wellness settings	Qualitative focus groups	30 healthcare professionals: 90% Physical therapist, 2% Administrative, 8% Other clinical role (exercise therapist, recreational therapist); mean age was 37, range = 28–53; 86% female	Spinal cord injuries; Standing and gait rehabilitation	Focus groups; thematic analysis
Heinemann et al., 2020 [42]; USA	To describe appraisals of robotic exoskeletons for locomotion by potential users with spinal cord injuries, their perceptions of device benefits and limitations, and recommendations for manufacturers and therapists regarding device use	Qualitative focus groups	35 patients; mean age = 48; 17% female	Spinal cord injuries; Gait rehabilitation	Focus groups; thematic analysis
Hochstenbach-Waelen and Seelen, 2012 [55]; The Netherlands	To identify criteria and conditions that people, involved in development of rehabilitation technology for upper limb training of stroke patients, should take into account to achieve a (more) successful implementation of the technology in daily clinical practice	Literature search and interviews	6 senior physiotherapists and occupational therapists	Stroke; upper limb rehabilitation	Semi-structured interviews; method of data analysis was not reported
Hughes et al., 2011 [47]; UK	To understand the stroke participants’ experiences of using the novel combination of a robotic arm and iterative learning control system and to gain greater insight into how systems might be improved in the future	Mixed-methods study, involving open-ended and closed questions	5 patients; mean age was 52 years (range = 38–77); 3 males and 2 females	Stroke; upper limb rehabilitation	Two ways data were collected: comments were recorded during the time when participants were receiving the intervention and immediately following the clinical study, an interview based question set was used; content analysis
Huq et al., 2012 [36]; Canada	To develop a portable robotic system with a haptic interface that facilitates the concept of rehabilitation at a remote location, e.g., at a home; to develop a GUI that integrates different control techniques and VR games in the same screen, and allows therapists to easily interact with the system; and to evaluate the current system with therapists in a focus group study	Focus group study	3 physiotherapists and 4 occupational therapists	Stroke; upper limb rehabilitation	Focus groups; summary of findings
Kumar and Phillips, 2013 [48]; UK	To explore the views, experiences, benefits, and difficulties that users of one specific type of PMAS perceive, and determine which areas of daily life they are used in	Mixed-methods approach, including questionnaire and interviews	13 patients; age range = 13–69 years (12 men and boys, mean age 25 years, mode age 14 years; and 1 woman, 69 years)	Neuromuscular conditions; upper limb rehabilitation	Semi-structured interviews; thematic analysis
Lajeunesse et al., 2018 [37]; Canada	To present the perspectives of individuals with ASIA C or D incomplete SCI concerning the usability of lower limb exoskeletons to R&D engineers and clinicians working in motor rehabilitation	Exploratory qualitative research design with a user-centred approach	13 patients; 6 males (mean age = 59.8) and 7 females (mean age = 43)	Incomplete spinal cord injury; lower limb rehabilitation	Individual, semi-structured interviews; inductive thematic analysis
Lo et al., 2020 [56]; Asia, Australia, Europe and USA	To inform rehabilitation clinicians about the various aspects of adopting and integrating robotic stroke therapy into clinical settings	Qualitative description design	8 rehabilitation therapists	Stroke and other neurological conditions, such as spinal cord injury, multiple sclerosis (MS), brain tumours and traumatic brain injuries; upper and lower limb training	Semi-structured interviews; qualitative descriptive analysis
Manns et al., 2019 [26]; Canada	To explore the expectations and experiences of persons with spinal cord injury, training with the ReWalk exoskeleton	Qualitative research design	11 patients (mean age = 37.5, range = 18–65 years); 4 females and 7 males	Traumatic spinal cord injury; standing and walking training	Semi-structured interviews; thematic analysis
Mortenson et al., 2020 [38]; Canada	To explore the experiences of physiotherapists with the introduction of an exoskeleton as a gait retraining device in a Canadian rehabilitation centre	Longitudinal qualitative study	10 therapists (one group of therapists, n = 4, was formally trained using the device, whereas the other group only had clinical exposure to the device, n = 6); mean age = 40 years; 8 females and 2 males	Brain and spinal cord injuries; gait training	Semi-structured interviews; thematic analysis
Nasr et al., 2015 [57]; UK, Italy and the Netherlands	To examine stroke survivors’ experiences of living with stroke and with technology in order to provide technology developers with insight into values, thoughts and feelings of the potential users of a to-be-designed robotic technology for home-based rehabilitation of the hand and wrist	Interdisciplinary research design and qualitative study	10 households (10 patients and 8 carers); age range = 60–77; 7 males and 3 females	Stroke; upper limb rehabilitation	Application of qualitative methods such as in-depth interviews as well as using diaries and photography activities; thematic analysis
O' Brien Cherry et al., 2017 [43]; USA	To determine participants’ general impressions about the benefits and barriers of using RT devices for in-home rehabilitation	Qualitative study design employing ethnographic- based anthropological methods	10 veterans (plus their carers); age range = 49–88; all males	Stroke; upper or lower limb impairments	Direct observations and semi-structured interviews; inductive thematic analysis
Phelan et al., 2015 [39]; Canada	To investigate the expectations and experiences of children with CP in relation to robotic gait training using the Lokomat Pro	An interpretivist qualitative design	5 children (8–11 years; 3 boys and 2 girls) and their parents (28–52 years; 3 mothers and 2 fathers);	Cerebral palsy; gait rehabilitation	Observations during sessions, semi-structured interviews with parents and use of a customizable “toolbox” of age-appropriate child-friendly techniques; thematic analysis
Read et al., 2020 [40]; Canada	To explore how the training and implementation of using the Ekso robotic exoskeleton with patients affects physiotherapists’ work	An exploratory qualitative research design	3 physiotherapists	Individuals with SCIs and hemiplegia due to stroke; gait training	One-on-one semi-structured interviews; thematic analysis
Sivan et al., 2016 [49]; UK	To evaluate the ICF as a framework to ensure that key aspects of user feedback are identified in the design and testing stages of development of a home-based upper limb rehabilitation system	Qualitative study	17 patients and 7 physiotherapists and occupational therapists	Stroke; upper limb rehabilitation	Face-to-face semi-structured interviews; analysis based on the updated International Classification of Functioning, Disability and Health (ICF) linking rules and core set categories
Stephenson and Stephens, 2018 [50]; UK	To explore physiotherapists' experience of using RT in rehabilitation of the upper limb, within a stroke rehabilitation centre	Phenomenological approach/qualitative study	6 physiotherapists; 3 males and 3 females	Stroke; upper limb rehabilitation	Semi-structured interviews; thematic analysis
Swank et al., 2020 [44]; USA	To describe therapists’ clinical practice experiences with robotic gait training (RGT) over 3 years during inpatient rehabilitation	Mixed methods study, including a survey and semi-structured focus group	10 physical therapists	Condition not specified; gait training	Semi-structured focus group; thematic analysis
Swank et al., 2020b [29]; USA	To determine the feasibility of integrating the Ekso Gait Training device into inpatient rehabilitation in a neurologic population	Longitudinal cohort design, including a focus group (therapists) and survey (therapists and patients)	Physical therapists (exact number not reported)	Stroke and SCI; gait training	Semi-structured focus group; thematic analysis
Sweeney et al., 2020 [51]; UK	To understand user perceptions in order to explain low uptake of upper limb rehabilitation interventions after stroke in clinical practice within the National Health Service (NHS Scotland)	Qualitative study using a mixed-methods approach, consisting of a cross-sectional online survey with therapists and semi-structured interviews with stroke patients	8 stroke patients from a Constraint Induced Movement Therapy (n = 2) and Robotic Therapy (n = 6) groups	Stroke; upper limb rehabilitation	Semi-structured interviews; thematic analysis
Tedesco Triccas et al., 2018 [52]; UK	To explore views and experiences of people with sub-acute and chronic stroke that had previously taken part in a randomised controlled trial involving tDCS and RT for their impaired upper limb	A structured and semi-structured interview study, involving qualitative and quantitative components	21 patients; 12 males and 9 females; mean age was 64.2	Stroke; upper limb rehabilitation	Interviews involving open questions; thematic analysis
Thomassen et al., 2019 [45]; USA	To generate new knowledge regarding user experiences of standing and walking with Ekso™ (Ekso Bionics, Richmond, CA, USA)	Qualitative (interview) study	3 patients; all male of different ages (from young adult to middle aged)	Spinal cord injury (due to traumatic and non-traumatic reasons); standing and walking training	In-depth interviews in a phenomenological tradition; systematic inductive content analyses

ASIA American Spinal Injury Association, CP cerebral palsy, f female(s), GUI graphical user interface, ICF International Classification of Functioning, Disability and Health, LE lower extremity, m male(s), PMAS powered mobile arm support, R&D research and development, RT robotic therapy, RWD robotic walking device, SCI spinal cord injury, SPO SCRIPT Passive Orthosis, tDCS transcranial direct current stimulation, VR virtual reality