Discussion
orthosis

Results of the Quebec User Evaluation of Satisfaction with assistive technology (QUEST) patients’ questionnaire: Scores can range from 1 (not satisfied at all) to 5 (highly satisfied). Asterisks indicate significant differences. Circles indicate outliersThe results of the QUEST (see Fig. The RobExReha-Patients found the arm orthosis, grip module and HoloLens AR-glasses to have limitations: Four patients mentioned that the orthosis (especially the part for the upper arm) could be more comfortable. Four patients found the grip module to be uncomfortable or not be adaptable enough (in length and/or in wrist motion). Two patients mentioned the HoloLens being uncomfortable or heavy.The results of the RTLX questionnaire are displayed in Fig. 
Results of the -Raw Task Load Index (RTLX) subscale scores displayed as boxplotsThe results from the pAR questionnaire are shown in Fig. 
Results of the presence in Augmented Reality (pAR) questionnaireFurther remarks from the patients regarding the visualization of the game through the HoloLens concerned the limited field of view. This led to difficulty in understanding the game (two patients) and the process of applying and adjusting the glasses, which one patient perceived as taking too much time.The therapists that administered the RobExReha system rated the usability overall slightly lower in the QUEST (mean: 3,7 ± 0.7, range: 2.8–4.6) than the patient groups. The items that were ranked lowest were “reliability and safety” (3.1 ± 0.7), “effectiveness” (3.3 ± 1.5) and “adjustability” (3.5 ± 0.7). The QUEST item ranked highest by the therapists was the “dimension” (mean: 4.8 ± 0.5). The overall mean usability as measured with the SUS was 60.5 (SD 21.8 range 25-82.5). The UEQ-short (Fig. 
Results of the evaluation by the RobExReha-Therapists Group: The two aspects that the therapists liked most about the system were the integration of the Augmented Reality Gaming aspect, and the donning procedure of the robotic device. The magnetic coupling of the brace enables the therapists to don and adjust the brace in a comfortable position prior to connecting the arm to the robot, which was perceived as highly usable.The objective was to evaluate the safety, clinical feasibility and usability, and potential benefits of a novel arm rehabilitation device based on an LBR robot and a serious game in AR (RobExReha system), from both a patient’s and therapist’s perspective. Key results indicate a safe use of the device with neurologically impaired patients and an acceptable to good usability reported by patients’ and therapists’ questionnaires. The combination of augmented reality using the HoloLens with a robotic arm training has shown to work for the patients that participated in the study. Furthermore, some features were identified that need improvement, such as an increase in system stability or better adjustability of the arm orthosis.