## 2 Materials and Methods  
We recruited first-stroke patients without severe cognitive impairments (i.e., severe aphasia and/or unilateral special neglect), who were able to be intervened for 2 weeks and could stably sit (Functional Independence Measure--bed/chair transfer item score of 4 or higher) for the present pilot study. Consequently, 22 stroke patients with a supratentorial lesion participated in this study (Table 1). The patients were admitted to the Fujita Health University Nanakuri Memorial Hospital between June 2013 and June 2014 and had agreed to training using InMotion2. The study design was compliant with the provisions of the Declaration of Helsinki and was approved by the appropriate ethics review boards of Fujita Health University (approval number: 15-132). The subjects included three patients with complete sensory loss (0 points for both the tactile, \"anesthesia\", and proprioceptive senses, \"no position change is detected\", on the Stroke Impairment Assessment Set (SIAS)--Light Touch and Position Senses, respectively [19; 20]) and with Fugl-Meyer Assessment scores for shoulder and elbow, excluding tendon reflex (FMA-S/E, perfect score: 30 points), of 8 points, 23 points, and 30 points, respectively. The other 19 patients had FMA-S/E scores similar to those of the three patients with complete sensory loss, but had scores of 1 point or higher for both the tactile and position senses on the SIAS. The patients were divided into three groups by the motor paralysis according to the upper-extremity subscale of FMA (FMA-UE). For the classification, we referred to a previous FMA study [21] which classified the motor paralysis of the upper extremity as severe (0-27 points), moderate (28-57 points), and mild (58-66 points). In the present study, the FMA-UE score excluding the items of the coordinationand tendon reflex was used for the evaluation as for the total FMA score of the upper extremity (FMA-total, perfect score: 54 points). In the modified scores (FMA-total), the classification ranges were 0-15, 16-45, 46-54 points, respectively. By assuming the rate of scores for shoulder and elbow excluding tendon reflex to the FMA-total (30/54), the borders of the three groups in FMA-S/E (perfect score: 30 points) were defined at 9 and 25 points, respectively. Patients with the FMA-S/E scores of less than 10 points were placed in the severe motor paralysis group (10 patients), patients with scores of 10 to 25 points were placed in the moderate paralysis group (eight patients), and patients with scores of 26 or higher were placed in the mild paralysis group (four patients). For each group, one patient had complete sensory loss. The effectiveness of robot training for patients with complete sensory loss was compared with that for patients without complete sensory loss for each motor paralysis level. InMotion2 robot training was performed in addition to normal occupational therapy for 10 sessions over a 2-week period at 5 days per week at 1 h per day. The normal occupational therapy, including upper limb function training and ADL training, was performed for 1 h per day, 7 days per week for 2 weeks. Motor functions were evaluated before training started and after 2 weeks of training. The indicators of function improvement were as follows: (1) the FMA-S/E, which excludes tendon reflex (perfect score: 30 points); (2) the FMA-total, which excludes coordination and tendon reflex (perfect score: 54 points); (3) reach error (RE); and (4) path error (PE). RE and PE were calculated in the evaluation mode of InMotion2 based on the track of the recorded motion. In the evaluation mode of InMotion2, a circular target was displayed in the center, and eight other targets were displayed at equal intervals around the circumference of a circle with a diameter of 14 cm. Each subject placed the indicator showing the grip location on the central target, then moved the indicator to the target designated on the circumference of the circle. This performance was recorded as one reach movement.