Study protocol
To evaluate the usability and feasibility, the groups used the devices (either directly as a patient or administering the therapy as therapist). After at least four sessions, their experience was evaluated using questionnaires (see Table 
Schematic of the structure of this study: the RobExReha-Patients trained 4–5 times with the RobExReha device, while technical and user incidents were reported. After completion of at least four training sessions, the questionnaire evaluation was conducted. The Reference Group only participated in the questionnaire survey and reported their perception of the conventional robotic gaming therapy