Table 1 Parameters of the ChARMin assessments.

Range of motion

(active and passive)

Shoulder horizontal adduction [°]

Maximal range of motion of the shoulder in horizontal adduction

Shoulder horizontal abduction [°]

Maximal range of motion of the shoulder in horizontal abduction

Shoulder extension [°]

Maximal range of motion of the shoulder in extension

Shoulder flexion [°]

Maximal range of motion of the shoulder in flexion

Shoulder internal rotation [°]

Maximal range of motion of the shoulder in internal rotation

Shoulder external rotation [°]

Maximal range of motion of the shoulder in external rotation

Elbow extension [°]

Maximal range of motion of the elbow in extension

Elbow flexion [°]

Maximal range of motion of the elbow in flexion

Forearm pronation [°]

Maximal range of motion of the forearm in pronation

Forearm supination [°]

Maximal range of motion of the forearm in supination

Wrist flexion [°]

Maximal range of motion of the wrist in flexion

Wrist extension [°]

Maximal range of motion of the wrist in extension

Strength

Shoulder horizontal abductors [Nm]

Isometric joint torques in the direction of shoulder horizontal abduction

Shoulder horizontal adductors [Nm]

Isometric joint torques in the direction of shoulder horizontal adduction

Shoulder extensors [Nm]

Isometric joint torques in the direction of shoulder extension

Shoulder flexors [Nm]

Isometric joint torques in the direction of shoulder flexion

Shoulder abductors [Nm]

Isometric joint torques in the direction of shoulder abduction

Shoulder adductors [Nm]

Isometric joint torques in the direction of shoulder adduction

Shoulder external rotators [Nm]

Isometric joint torques in the direction of shoulder external rotation

Shoulder internal rotators [Nm]

Isometric joint torques in the direction of shoulder internal rotation

Elbow extensors [Nm]

Isometric joint torques in the direction of elbow extension

Elbow flexors [Nm]

Isometric joint torques in the direction of elbow flexion

Forearm supinator [Nm]

Isometric joint torques in the direction of forearm supination

Forearm pronators [Nm]

Isometric joint torques in the direction of forearm pronation

Wrist extensors [Nm]

Isometric joint torques in the direction of wrist extension

Wrist flexors [Nm]

Isometric joint torques in the direction of wrist flexion

Thumb/finger flexors [Nm]

Isometric joint torques in the direction of thumb/finger flexion

Resistance to passive movement (at 60°/s minus resistance occurring at 10°/s)

Against shoulder horizontal abduction [Nm/rad]

Resistance occurring during shoulder horizontal abduction

Against shoulder horizontal adduction [Nm/rad]

Resistance occurring during shoulder horizontal adduction

Against shoulder flexion [Nm/rad]

Resistance occurring during shoulder flexion

Against shoulder extension [Nm/rad]

Resistance occurring during shoulder extension

Against shoulder external rotation [Nm/rad]

Resistance occurring during shoulder external rotation

Against shoulder internal rotation [Nm/rad]

Resistance occurring during shoulder internal rotation

Against elbow extension [Nm/rad]

Resistance occurring during elbow extension

Against elbow flexion [Nm/rad]

Resistance occurring during elbow flexion

Against forearm supination [Nm/rad]

Resistance occurring during forearm supination

Against forearm pronation [Nm/rad]

Resistance occurring during forearm pronation

Against wrist extension [Nm/rad]

Resistance occurring during wrist extension

Against wrist flexion [Nm/rad]

Resistance occurring during wrist flexion

Quality of movement (the mean over all movements)

Mean distance-to-path-ratio [unitless]

Length of the trajectory from start/target to the target/start divided by the direct distance between the start and the target position

Mean standard deviation [m]

Standard deviation of the end-effector position is calculated for the time when the patient’s hand is on the target position

Mean number of peaks [n speed peaks/distance]

Number of speed peaks normalised to the trajectory distance

Mean absolute number of peaks

Number of speed peaks

Mean time [ms]

Difference between the two timestamps when the patient reaches the target and when the patient left the starting position

Mean reaction time [ms]

Time between the timestamp when the target is shown and the time when the robot end-effector leaves the start/target position

Circle

(mean of all the trials)

Mean summed difference [m·s]

Summed difference between the current position and the reference circle

Mean percentage in front [%]

Percentage of the time that the participant was in front of the reference circle

Mean ellipse ratio [unitless]

Ratio between the minimal and the maximal radius of the least-squares fitted ellipse

Workspace

Maximum distance lateral [m]

Maximal displacement in direction away from the body, (lateral direction)

Maximum distance down [m]

Maximal displacement in direction of the bottom wall

Maximum distance medial [m]

Maximal displacement in direction to the body (medial direction)

Maximum distance up [m]

Maximal displacement in direction of the top wall

Maximum distance chest [m]

Maximal displacement in direction towards the chest

Maximum distance front [m]

Maximal displacement in direction of the front wall

Volume [m³]

Cubic volume of the arm reachable workspace