## 2 Materials and Methods  
### Body-Area-Distributed Sensor and Actuator System and the NeuroSuitUp Platform  
The SRG system was developed as part of a larger assistive wearable robotics suite, designed to enable neuroplasticity-induced neurorehabilitation for patients post-spinal cord injury and stroke (Figure 1). The platform records the kinematic and dynamic response of users during serious game-mediated training regimens, and generates the corresponding control response, through the use of lightweight, flexible, and dedicated actuation techniques [28]. The complementary wearable modalities of the suite include an upper and lower-body cloth-based exoskeleton, ensuring ease of use and minimal impact on the participants while providing a multi-segmental view of movement. Kinematic data are provided by 9 degrees of freedom (DoF) inertial measurement units (IMUs) placed on the primary kinematic segments of the corresponding body region (5 for the upper body, 4 for the lower body) to enable real-time recording of motion. In order to evaluate the underlying dynamics of the motor system, surface electromyography (sEMG) units are employed in the major muscle groups actuating the corresponding monitored kinematic joints (14 for the upper, 4 for the lower body).  
Given the extensive impact of these pathologies on movement, the modalities are equipped with an electrical muscle stimulation (EMS) subsystem, providing assistance when the desired range-of-motion and ambient force generation capabilities of each user are insufficient for the task. The control strategies focus on providing stimulation in response to accumulated kinematic errors, specifically when participants fail to achieve target joint angles (position errors) or desired movement velocities (velocity errors) during task execution [29].  
Sensor data acquisition, processing, and control strategies employed by the suite are managed through a dedicated set of robot operating system (ROS) packages. This modular ROS stack enables reliable communication between operational nodes, including sensors, data processing filters, and control algorithms, whilst facilitating experimentation with different control strategies, under repeatable conditions. The processed sensor data are subsequently integrated into a custom serious game application, developed in Unity. The platform delivers interactive task-based training regimens, designed by healthcare professionals after a comprehensive physical evaluation, to ensure full adaptability to the patient's functional status and rehabilitation goals [29]. The continuous interaction between sensor data acquisition, real-time visual feedback through the serious gaming application, and the control actuation strategies aims to establish a robust biof  
Figure 1: NeuroSuitUp - HEROES suite architecture.  
is designed to promote neuroplasticity and enable a highly personalized, motivating, and immersive neurorehabilitation program.  
The Wearable SRG  
Wearable SRGs have emerged as a game-changing invention in the rehabilitation of people with hand impairments, providing new opportunities for regaining hand function and improving overall QoL [30]. These devices are intended to help patients undertake therapeutic regimens while also fostering brain neuroplasticity and motor skill development via interactive, user-friendly interfaces. The wearable SRGs presented in this manuscript incorporate modern technologies such as sensors, SR actuators, and adaptive control software systems, which can give individualized assistance and feedback during rehabilitation sessions.