Fig. 1

Introduction of the ReoGo-J. (A) The ReoGo-J comprises a chair, a main unit with an operational stick, and a monitor positioned in front of the patients. (B) ReoGo-J has eight tasks that enable the paralyzed UE to reach in various directions. (C) ReoGo-J allows you to choose the reach range within the training task from 100%, 65%, or 30%. (D) Initiate mode, a mode in which the robot automatically assists the robot arm (stick) along a trajectory when the appropriate force is applied to the robot arm (stick) at the start of operation; Step-initiate mode, the trajectory is divided into several sections, and by applying the appropriate force at the start of each section, the robot arm (stick) moves automatically; Follow-assist, a mode in which the robot arm (stick) moves automatically at a low speed along a trajectory to assist the patient’s voluntary movement; Free mode, there is no robotic assistance; the patient operates the robotic arm (stick) using only voluntary movement . Additionally, in 3D mode, the free mode cannot be used due to the characteristics of the device’s control mechanism.