{"id":"https://openalex.org/W4414851555","doi":"https://doi.org/10.3390/robotics14100141","title":"A Review of Robotic Interfaces for Post-Stroke Upper-Limb Rehabilitation: Assistance Types, Actuation Methods, and Control Mechanisms","display_name":"A Review of Robotic Interfaces for Post-Stroke Upper-Limb Rehabilitation: Assistance Types, Actuation Methods, and Control Mechanisms","publication_year":2025,"publication_date":"2025-10-06","ids":{"openalex":"https://openalex.org/W4414851555","doi":"https://doi.org/10.3390/robotics14100141"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14100141","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14100141","pdf_url":"https://www.mdpi.com/2218-6581/14/10/141/pdf?version=1759741173","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/10/141/pdf?version=1759741173","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Andr\u00e9 Gon\u00e7alves","orcid":"https://orcid.org/0009-0009-3125-8833"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Andr\u00e9 Gon\u00e7alves","raw_affiliation_strings":["FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0009-0009-3125-8833","affiliations":[{"raw_affiliation_string":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023258418","display_name":"Manuel F. Silva","orcid":"https://orcid.org/0000-0002-0593-2865"},"institutions":[{"id":"https://openalex.org/I11193315","display_name":"Instituto Superior de Contabilidade e Administracao do Porto","ror":"https://ror.org/00wg3s094","country_code":"PT","type":"education","lineage":["https://openalex.org/I11193315"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I83863532","display_name":"Polytechnic Institute of Porto","ror":"https://ror.org/04988re48","country_code":"PT","type":"education","lineage":["https://openalex.org/I83863532"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Manuel F. Silva","raw_affiliation_strings":["INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","ISEP\u2014Instituto Superior de Engenharia do Porto, Instituto Polit\u00e9cnico do Porto, Rua Dr. Ant\u00f3nio Bernardino de Almeida, 4249-015 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-0593-2865","affiliations":[{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"ISEP\u2014Instituto Superior de Engenharia do Porto, Instituto Polit\u00e9cnico do Porto, Rua Dr. Ant\u00f3nio Bernardino de Almeida, 4249-015 Porto, Portugal","institution_ids":["https://openalex.org/I11193315","https://openalex.org/I83863532"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028274849","display_name":"H\u00e9lio Mendon\u00e7a","orcid":"https://orcid.org/0000-0003-4895-5634"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"H\u00e9lio Mendon\u00e7a","raw_affiliation_strings":["FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0003-4895-5634","affiliations":[{"raw_affiliation_string":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018360578","display_name":"Cl\u00e1udia Rocha","orcid":"https://orcid.org/0000-0001-7254-0346"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Cl\u00e1udia D. Rocha","raw_affiliation_strings":["INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0001-7254-0346","affiliations":[{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.7524,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77092222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"14","issue":"10","first_page":"141","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.6312000155448914},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5745999813079834},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.47769999504089355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4652000069618225},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4320000112056732},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4088999927043915},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.39750000834465027}],"concepts":[{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.6312000155448914},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5745999813079834},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.47769999504089355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4652000069618225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4648999869823456},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4320000112056732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4293000102043152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4163999855518341},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4088999927043915},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.39750000834465027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3939000070095062},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3862999975681305},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.37630000710487366},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35510000586509705},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.321399986743927},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28220000863075256},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2621000111103058}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14100141","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14100141","pdf_url":"https://www.mdpi.com/2218-6581/14/10/141/pdf?version=1759741173","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:85e730d8c02e4be9af62c8736dd846f2","is_oa":true,"landing_page_url":"https://doaj.org/article/85e730d8c02e4be9af62c8736dd846f2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 10, p 141 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14100141","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14100141","pdf_url":"https://www.mdpi.com/2218-6581/14/10/141/pdf?version=1759741173","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3611179903","display_name":null,"funder_award_id":"2021-2026","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414851555.pdf","grobid_xml":"https://content.openalex.org/works/W4414851555.grobid-xml"},"referenced_works_count":111,"referenced_works":["https://openalex.org/W12304042","https://openalex.org/W1099687614","https://openalex.org/W1573842626","https://openalex.org/W1596126163","https://openalex.org/W1599681732","https://openalex.org/W1666819333","https://openalex.org/W1977086599","https://openalex.org/W2012499289","https://openalex.org/W2014813791","https://openalex.org/W2026089271","https://openalex.org/W2038316924","https://openalex.org/W2039053770","https://openalex.org/W2049818847","https://openalex.org/W2051325266","https://openalex.org/W2054326469","https://openalex.org/W2054628872","https://openalex.org/W2062939404","https://openalex.org/W2068221931","https://openalex.org/W2073917664","https://openalex.org/W2085126485","https://openalex.org/W2086604372","https://openalex.org/W2089421806","https://openalex.org/W2096209111","https://openalex.org/W2096281966","https://openalex.org/W2096347511","https://openalex.org/W2101700461","https://openalex.org/W2113052976","https://openalex.org/W2117142197","https://openalex.org/W2117841031","https://openalex.org/W2128614279","https://openalex.org/W2158625531","https://openalex.org/W2164553222","https://openalex.org/W2167880628","https://openalex.org/W2240070982","https://openalex.org/W2258805495","https://openalex.org/W2481690837","https://openalex.org/W2511163921","https://openalex.org/W2571921956","https://openalex.org/W2613959249","https://openalex.org/W2619391573","https://openalex.org/W2742277095","https://openalex.org/W2742741556","https://openalex.org/W2745216599","https://openalex.org/W2751528488","https://openalex.org/W2801116181","https://openalex.org/W2807983455","https://openalex.org/W2808133395","https://openalex.org/W2809795911","https://openalex.org/W2809842500","https://openalex.org/W2885663668","https://openalex.org/W2894094160","https://openalex.org/W2894445978","https://openalex.org/W2899229270","https://openalex.org/W2900059230","https://openalex.org/W2905557093","https://openalex.org/W2918596063","https://openalex.org/W2943199682","https://openalex.org/W2949008047","https://openalex.org/W2954530298","https://openalex.org/W2966378754","https://openalex.org/W2967125373","https://openalex.org/W2969320466","https://openalex.org/W2979871576","https://openalex.org/W3004774748","https://openalex.org/W3010829948","https://openalex.org/W3118615836","https://openalex.org/W3122200986","https://openalex.org/W3124003759","https://openalex.org/W3135427506","https://openalex.org/W3165759765","https://openalex.org/W3170782000","https://openalex.org/W3184108700","https://openalex.org/W3186730013","https://openalex.org/W3196281950","https://openalex.org/W3203388279","https://openalex.org/W4200191135","https://openalex.org/W4200401311","https://openalex.org/W4205591795","https://openalex.org/W4205679663","https://openalex.org/W4205881209","https://openalex.org/W4206469092","https://openalex.org/W4211124276","https://openalex.org/W4211234443","https://openalex.org/W4249847080","https://openalex.org/W4253612738","https://openalex.org/W4283219219","https://openalex.org/W4292261996","https://openalex.org/W4297047351","https://openalex.org/W4298089063","https://openalex.org/W4313598698","https://openalex.org/W4321236382","https://openalex.org/W4367042879","https://openalex.org/W4382197671","https://openalex.org/W4389938199","https://openalex.org/W4390540798","https://openalex.org/W4392014408","https://openalex.org/W4393005451","https://openalex.org/W4393033083","https://openalex.org/W4393199584","https://openalex.org/W4393253928","https://openalex.org/W4395029059","https://openalex.org/W4396972654","https://openalex.org/W4400774809","https://openalex.org/W4401194451","https://openalex.org/W4402536322","https://openalex.org/W4402643366","https://openalex.org/W4403376873","https://openalex.org/W4404553114","https://openalex.org/W4411690814","https://openalex.org/W4412596622","https://openalex.org/W4412631184"],"related_works":[],"abstract_inverted_index":{"Stroke":[0],"is":[1],"a":[2,43,121,150],"leading":[3],"cause":[4],"of":[5,45,109],"long-term":[6],"disability":[7],"worldwide,":[8],"with":[9,60,90,112,138],"survivors":[10],"often":[11],"facing":[12],"significant":[13],"challenges":[14,133],"in":[15,134],"regaining":[16],"upper-limb":[17,51,145],"functionality.":[18],"In":[19],"response,":[20],"robotic":[21,46,110],"rehabilitation":[22,96,159],"systems":[23,99],"have":[24],"emerged":[25],"as":[26],"promising":[27],"tools":[28],"to":[29,62],"enhance":[30],"post-stroke":[31],"recovery":[32],"by":[33],"delivering":[34],"precise,":[35],"adaptable,":[36],"and":[37,57,71,127,130,155],"patient-specific":[38],"therapy.":[39],"This":[40,117],"paper":[41,118],"presents":[42],"review":[44,75],"interfaces":[47,114],"developed":[48],"specifically":[49],"for":[50,153],"rehabilitation.":[52],"It":[53],"analyses":[54],"existing":[55],"exoskeleton-":[56],"end-effector-based":[58],"systems,":[59],"respect":[61],"three":[63],"core":[64],"design":[65],"pillars:":[66],"assistance":[67,92],"types,":[68],"control":[69],"philosophies,":[70],"actuation":[72],"methods.":[73],"The":[74],"highlights":[76],"that":[77],"most":[78],"solutions":[79,129],"favor":[80],"electrically":[81],"actuated":[82,113],"exoskeletons,":[83],"which":[84],"use":[85],"impedance-":[86],"or":[87],"electromyography-driven":[88],"control,":[89],"active":[91],"being":[93],"the":[94,107,132],"predominant":[95],"mode.":[97],"Resistance-providing":[98],"remain":[100],"underutilized.":[101],"Furthermore,":[102],"no":[103],"hybrid":[104],"approaches":[105],"featuring":[106],"combination":[108],"manipulators":[111],"were":[115],"found.":[116],"also":[119],"identifies":[120],"recent":[122],"trend":[123],"towards":[124],"lightweight,":[125],"modular,":[126],"portable":[128],"discusses":[131],"bridging":[135],"research":[136],"prototypes":[137],"clinical":[139],"adoption.":[140],"By":[141],"focusing":[142],"exclusively":[143],"on":[144],"applications,":[146],"this":[147],"work":[148],"provides":[149],"targeted":[151],"reference":[152],"researchers":[154],"engineers":[156],"developing":[157],"next-generation":[158],"technologies.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}