Figure 1From: Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients: four single-casesMechanical structure of the exoskeleton robot ARMin II. Axis 1: Vertical shoulder rotation, Axis 2: Horizontal shoulder rotation, Axis 3: Internal/external shoulder rotation, Axis 4: Elbow flexion/extension, Axis 5: Pro/supination of the lower arm, Axis 6: Wrist flexion/extension.Back to article page