Robot assisted training: The impact of trajectories and velocities on the subject's perception of the movement

Stroke is one of the major causes of long-term disability in Western countries. A large percentage of stroke patients is limited in performing activities of daily living (ADL) due to motor impairment of the most affected upper limb. Robot-assisted therapy is a promising approach to recover upper-limb functions following the stroke but the debate on treatment programs is still open. The objective of this work is to verify the impact of different reaching trajectories, velocities and robot control modalities on the subject's perception of the movement.