Robotic devices for paediatric rehabilitation: a review of design features

Table 3 Upper limb end-effectors rehabilitation robots

System (year)	Treated part of the body	DOFs	Actuator	Type of rehabilitation	Type of training	HCI input	Paediatric disease (design for or treated condition)	Paediatric design	Stage of the device
Inmotion2/Mitmanus (BIONIK, Canada) (1998) [126, 178]	Shoulder/elbow	2	DC motors	Physical therapy	Passive/active/assistive	Impedance	Neurological	No	Clinical trial/commercial (FDA)
Wrist-Robot (2009) [119, 179]	Forearm/wrist	3	DC motors	Physical therapy	Passive/active/assistive	Impedance	Neurological	No	Clinical trial
NJIT-RAVR (2009) [124, 180]	Shoulder/elbow/forearm	6	DC motors	Physical therapy	Active/assistive/resistive	Admittance	Neurological	No	Clinical trial
GNO arm (2009)[149]	Elbow	1	DC motor/Cable driven	Assistance	Assistive	Finger movement	DMD	Yes	Feasibility study
AMADEO (Tyromotion, Austria) (2012) [150, 181]	Fingers	5	DC motors	Physical therapy	Passive/active/assistive	Impedance	Physical disabled children	No	Clinical trial/commercial (FDA)
REAplan (AXINESIS, France) (2012) [81, 182]	Shoulder/elbow	2	DC motors	Physical therapy	Passive/active/assistive	Position	Neurological	No	Clinical trial/commercial
PASCAL (2013) [183, 184]	Shoulder/elbow	3	Dc motors	Physical therapy	Passive/active/assistive	Velocity	Neurological	Yes	Clinical trial
ReHaptic (2014) [125, 185]	Forearm/wrist	2	DC motors	Physical therapy	Passive/active/assistive/resistive	Admittance	Neurological	Yes	Clinical trial
MyPam (2015) [166]	Shoulder/elbow	2	Electric motors	Physical therapy	Active/assistive	Position	CP	Yes	Feasibility study

ISSN: 1475-925X