## 2 Materials and Methods
### Data Acquisition and Analysis  
Data for the SCI participants group were collected using the ComSS subsystem of the SRG measuring voltage outputs for flexion, pressure, and muscle activity while participants executed 6 repetitions of the Grasping exercises. Each session was timestamped, allowing for the correlation of events with specific time intervals. Categorical data indicating specific events during the exercise, including grasp events (e.g., \"Grasp 0\", \"Grasp 1\", etc.) and PAS subsystem valve states (e.g., \"Valve OPEN\", \"Valve CLOSED\") were also annotated. Similarly, data for the post-stroke participants were acquired using the ComSS subsystem integrated into dual SRGs, capturing voltage outputs from the MSS on both hands. Each data file adheres to a standardized format beginning with a timestamp in milliseconds and a phase indicator, followed by sensor readings for each hand. For example, the right-hand data include channels for finger flexion--renamed for clarity as RH_Flex_Thumb, RH_Flex_Index, RH_Flex_Middle, RH_Flex_Ring, and RH_Flex_Little--along with RH_Pressure_Thumb and RH_Pressure_Middle for pressure,  
\begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline
**Questionnaire** & **NSU** & **NSU** & **NSU** & **HER** & **HER** & **HER** & **HER** & **Total** \\  & **-01-001** & **-02-001** & **-02-002** & **Mdn (IQR)** & **-01-001** & **-02-001** & **-02-002** & **Mdn (IQR)** & **Mdn (IQR)** \\ \hline Godspeed-Total (/120) & 73 & 78 & 71 & **73 (3.5)** & 90 & 58 & 70 & **70 (16)** & **72 (6.5)** \\ Anthrop-morphism (/25) & 12 & 9 & 8 & **9 (2)** & 14 & 13 & 11 & **13 (1.5)** & **11.5 (3.25)** \\ Animimosity (/30) & 14 & 9 & 13 & **13 (2.5)** & 17 & 15 & 10 & **15 (3.5)** & **13.5 (4)** \\ Likeability (/25) & 17 & 23 & 20 & **20 (3)** & 20 & 7 & 17 & **17 (6.5)** & **18.5 (3)** \\ Perceived Intelligence (/25) & 15 & 22 & 15 & **15 (3.5)** & 24 & 8 & 17 & **17 (8)** & **16 (5.75)** \\ Perceived Safety (/15) & 15 & 15 & 15 & **15 (0)** & 15 & 15 & 15 & **15 (0)** & **15 (0)** \\ \hline LED & 0 & 0 & 0 & **0 (0)** & 0 & 0 & 0 & **0 (0)** & **0 (0)** \\ SMEQ & 10 & 0 & 0 & **0 (5)** & 0 & 10 & 70 & **10 (35)** & **5 (10)** \\ KVIQ & 50 & 49 & 50 & **50 (0)** & 10 & 37 & 35 & **39 (17)** & **48.5 (9)** \\ VVIQ & 79 & 80 & 80 & **80 (0.5)** & 40 & 72 & 55 & **55 (9)** & **75.5 (20.5)** \\ \hline \hline \end{tabular}  
* IQR: Interquartile Range; KVIQ: Kinesthetic and Visual Imagery Questionnaire; LED: Locally Experienced Discomfort; HER: HEROES; Mdn: Median value; NSU: NeuroSuitUp; SMEQ: Subjective Mental Effort Questionnaire; VVIQ: Vividness of Visual Imagery Questionnaire.  
\end{table}
Table 4: Perception of robotics, mental effort, discomfort and mental image capacity reported by the patient participants.  
Figure 3: Post-stroke SRGs: (**a**) architecture and (**b**) prototype.  
RH_EMG_Raw for muscle activity, and acceleration channels (RH_AccelX, RH_AccelY, RH_AccelZ). The left-hand data mirror this structure with corresponding LH channels. During each session, participants performed three distinct grasping exercises, and the sessions were meticulously timestamped to allow precise correlation between sensor data and specific exercise intervals. In addition, categorical annotations were incorporated to mark key events, such as the initiation and completion of each exercise and the activation of the PAS subsystem, thereby enabling a detailed analysis of motor performance and recovery in post-stroke patients. All recorded data are stored in CSV files, ensuring standardized formatting and ease of access.