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A novel robotic system for quantifying arm kinematics and kinetics: description and evaluation in therapist-assisted passive arm movements post-stroke

This paper, for the first time, defines requirements of any potential physiotherapy robots designed for use with the upper limb. Supported by the NIHR (NIHR/HTD475;£684k) and involving 16 adults with stroke, the work described was crucial in the development of a new robotic system iPAM Mk2 which has now been approved by the MHRA for use in clinical trials in three NHS hospitals, the largest trial of robots in an acute setting within the UK (http://www.controlled-trials.com/ISRCTN16472838). This paper sets performance standards for future upper limb robots based on actual movements prescribed by a clinical team undertaking robotic physiotherapy.