Questionnaires
Patients in the RobExReha-Patients group received training with the RobExReha device. A session consisted of the donning and setup of the device, subsequent gaming therapy, termination of the session and doffing of the device. Amount and mode of robotic support as well as the length of the gaming sessions were adjusted by the therapist according to the patient’s needs. Figure 
User Interface of the RobExReha system for the therapist. In this screen, the therapy session could be planned and adapted: Separate gaming sessions could be added and adjusted in length (german description: “Dauer”), as well as the rest length between the sessions (“Pausezeit zwischen den Spielen”). Additionally, the requirements in terms of range of motion (“Beweglichkeit”) and the support by the robot (“Kraft”) could be adjusted via this interface by the therapist. Under the “Calc-Mode” the paradigm of robotic support (adaptive/non-adaptive) could be chosen;The therapists administered the RobExReha device in at least five sessions to a patient before answering the questionnaire. They were responsible for donning, doffing, and configuring the training session as well as supervising the patient.The patients in the Reference Group received rehabilitation training with the commercially available ArmeoPower or ArmeoSpring (Hocoma AG, Switzerland) as part of their inpatient schedule. Six patients in the Reference Group trained with the ArmeoPower device and five with the ArmeoSpring device, with a mean of 15 (± 25, min: 4, max: 90) completed therapy sessions. They received no further intervention regarding this study. This data acquisition was done during the developmental stage of the RobExReha device and thus before the data acquisition of the RobExReha device.
Overview over the standardized questionnaires used for the usability evaluationQUEST: Quebec User Evaluation of Satisfaction with assistive technology, pAR: presence in augmented reality questionnaire, SUS: System Usability Scale, UEQ-short: short version of the User Experience Questionnaire