Robot-aided sensorimotor arm training methods based on neurological rehabilitation principles in stroke and brain injury patients.

We developed the upper extremity compound movements (UECM) rehabilitation training robot and designed straight-line paths tracking and circle paths tracking exercise based on neurological rehabilitation principles. Rehabilitative exercises should be on hand paths rather than on individual joints. robot can guide patients during forward reaching movements. The exterior oriented circle movement performed the coactivation of shoulder abductors with elbow extensors and the coactivation of shoulder adductors with elbow flexors at most of tracks against the stereotypic movement pattern in stroke and brain injury.