Intervention
All patients of two groups received a 60 min routine rehabilitation treatment, including physical therapy (neuromuscular electrical stimulation, rolling, transferring, sitting, standing and walking) and occupational therapy (dressing, eating, grooming). Based on the routine treatment, the BRT group received 30 min of bilateral robot-assisted training, while the CT group received 30 min of task-related training, including reaching to move a cup, grasping and releasing blocks, picking up coins, and rolling a bucket. All treatments were given once a day, 6 days /week, for a total of 3 weeks.For the bilateral upper limb robot-assisted therapy, the patient is seated in the treatment chair between two upper limb rehabilitation robots. The robots are then adjusted so that the blue line on the robot arm is aligned with the patient’s acromion. The upper limbs are secured to the end-effectors of the intelligent force feedback rehabilitation robot with glove straps to prevent slippage during treatment, and to secure the trunk. The training program was switched to bilateral arm training mode. The assistance force was adjusted to resist the gravity of arms. Then, the range of motion is calibrated according to the patient's active mobility or the therapist's prescription, and games with simultaneous bilateral movements are selected (drumming, flag waving, rowing), 30 min, respectively (Fig. Bilateral upper limb robot-assisted training