Fig. 2From: Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunitiesExamples of contextual factors in the design of an at-home rehabilitation robot, synthesized from [36,37,38]. The Device Properties interact with the contextual factors to determine the user’s experience. While these factors also apply to in-clinic devices, the Personal and Environment factors are more impactful in the home setting compared to a controlled clinicBack to article page