2.3. Rehabilitation Program
The rehabilitation program for the paretic arm for both treatment groups (robot group–RG and usual care group–UCG) consisted of 20 45 min sessions, carried out 5 times a week by trained physiotherapists. The interventions have been already described in previously published papers [The RG treatment consisted of a planar robotic manipulandum (Braccio Di Ferro, Celin s.r.l., Italy), as fully described in the literature [Participants allocated to the UCG underwent conventional arm-specific physiotherapy consisting of sessions of active and passive mobilization of the shoulder, scapula, elbow, and wrist, followed by task-oriented exercises customized to the skills of the participants. Treatment progression was achieved by increasing the range of motion, the number of repetitions, and muscular coordination demands.