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Ble to provide the range of movement of upper limb joints Ble to supply the variety of movement of upper limb joints which include shoulder and elbow angle making use of internal robot measures, hence proximal assessment such as intra-limb coordination which is useful to know the interaction of upper limb elements have to be inferred on the endeffector quality of performing synergistic tasks [39] such as circle drawing and shape tracing. Exoskeleton robots on the contrary are constructed side-byside with the upper limb which provides isolated joint manage and higher variety of assessment parameters as proximal segments are being interfaced to the system. Having said that, precise coupling in the robot kinematics and upper limb kinematics are required for the internal robot measurement to become feasible. This implies that the transformation of kinematic parameters in robot functional frame to anatomical frame ought to be out there or a minimum of controlled throughout assessment session for a helpful clinicalinterpretation. This can be realized by designing specific joint configuration that deemed the robot as statically determined [67,69] and provide technique of linkages that let the movement of anatomical segment's center of rotation as the movement happens [70]. The handle scheme in the rehabilitation robot plays a vital function in giving assessment data. Although impedance controlled robots like MITMANUS/InMotion and ARM-Guide offer stable dynamic interaction with stiff environment like inside the case of targeted movement and shape tracing, report have shown that even low-impedance end-point movement is susceptible to robot's intrinsic dynamics [71]. The consequence is remarkably consistent 2D surfaces emerged from trial-to-trial and amongst subjects which would have an effect on the capacity of your robot to provide meaningful assessment. In contrast, admittance controlled robots like MIME and ARMin has higher level accuracy and impart negligible level of inertia through totally free reaching process. Even so, to accommodate the complexity, the technique as an example employs harmonic drive actuators [69] exactly where considerable friction exists when the robot is in passive state. As a result, assessments are realized during counterbalanced (transparent) state which hence relies on the overall performance in the robot's controller to distinguish user's overall performance from the influence of robot dynamics. Beyond the robot structure, the feasible therapy variation may influence the range of assessment information provided as well. Whilst passive assessment session demands backdrivability in the robot, user's share of control in active-assisted and resistive rehabilitation session is often advantageous for continuous assessment. It is actually critical to emphasize even so, that the robotic method has to be in a position to distinguish the user's contribution throughout the therapy in the sum of external forces which incorporates gravity, inertia, centrifugal and Coriolis forces, passive mechanical forces and forces associated to muscle activity [72]. In summary, it could be concluded that optimal assessment data is usually supplied solely by the robot without the need of external motion capture when no perturbation either from internal dynamics of the robot or gravitational loading is guaranteed and the kinematic coupling among the robot and user is controlled.Kinematic parameters evaluating movement qualityThe assessment conducted in studies of robot-assisted rehabilitation reviewed within this paper typically focuses on end-point movement except for parameters defining joint range limits, intra-limb and inter-limb coordinat.