Rehabilitation robots have become important tools in stroke rehabilitation. Compared to
manual arm training, robot-supported training can be more intensive, of longer duration and
more repetitive. Therefore, robots have the potential to improve the rehabilitation process in
stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has
focused on end-effector-based robots, a shift towards exoskeleton robots is taking place
because they offer a better guidance of the human arm, especially for movements with a …