{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T18:00:09Z","timestamp":1770832809456,"version":"3.50.1"},"reference-count":173,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2025,10,6]],"date-time":"2025-10-06T00:00:00Z","timestamp":1759708800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Union","doi-asserted-by":"crossref","award":["21"],"award-info":[{"award-number":["21"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["www.mdpi.com"],"crossmark-restriction":true},"short-container-title":["Robotics"],"abstract":"<jats:p>Stroke is a leading cause of long-term disability worldwide, with survivors often facing significant challenges in regaining upper-limb functionality. In response, robotic rehabilitation systems have emerged as promising tools to enhance post-stroke recovery by delivering precise, adaptable, and patient-specific therapy. This paper presents a review of robotic interfaces developed specifically for upper-limb rehabilitation. It analyses existing exoskeleton- and end-effector-based systems, with respect to three core design pillars: assistance types, control philosophies, and actuation methods. The review highlights that most solutions favor electrically actuated exoskeletons, which use impedance- or electromyography-driven control, with active assistance being the predominant rehabilitation mode. Resistance-providing systems remain underutilized. Furthermore, no hybrid approaches featuring the combination of robotic manipulators with actuated interfaces were found. This paper also identifies a recent trend towards lightweight, modular, and portable solutions and discusses the challenges in bridging research prototypes with clinical adoption. By focusing exclusively on upper-limb applications, this work provides a targeted reference for researchers and engineers developing next-generation rehabilitation technologies.<\/jats:p>","DOI":"10.3390\/robotics14100141","type":"journal-article","created":{"date-parts":[[2025,10,6]],"date-time":"2025-10-06T11:42:49Z","timestamp":1759750969000},"page":"141","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Review of Robotic Interfaces for Post-Stroke Upper-Limb Rehabilitation: Assistance Types, Actuation Methods, and Control Mechanisms"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-3125-8833","authenticated-orcid":false,"given":"Andr\u00e9","family":"Gon\u00e7alves","sequence":"first","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0593-2865","authenticated-orcid":false,"given":"Manuel F.","family":"Silva","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"ISEP\u2014Instituto Superior de Engenharia do Porto, Instituto Polit\u00e9cnico do Porto, Rua Dr. Ant\u00f3nio Bernardino de Almeida, 4249-015 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4895-5634","authenticated-orcid":false,"given":"H\u00e9lio","family":"Mendon\u00e7a","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7254-0346","authenticated-orcid":false,"given":"Cl\u00e1udia D.","family":"Rocha","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2025,10,6]]},"reference":[{"key":"ref_1","unstructured":"National Health Service (2014, November 13). 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