Fig. 5From: Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunitiesExamples of endpoint mechatronic devices: a Lu [44], edited, licensed under CC BY-NC-ND 3.0; b HomeRehab [60], licensed under CC BY 4.0; c BULReD [57], licensed under CC BY 4.0. Examples of joint-based devices: d SCRIPT [72], edited, licensed under CC BY 4.0; e eWrist [83], edited, licensed under CC BY 4.0Back to article page