## Results
### Robotic Protocols for Upper Limb Rehabilitation
To accomplish this purpose, the researchers acquired kinematic and kinetic data of children with CP during the robot-assisted assessment; these data were labeled by the QUEST and the gradient of improvement change in the QUEST between the baseline and one-month follow-up and were subjected to the K-means clustering. Armeo Spring is based on weight counterbalancing assistance as it supports the weight of the upper limbs through its springs. This device records movement parameters such as resistance, strength, coordination and range of motion and is adjustable according to the patient's condition. We found 7 clinical studies involving this device [81; 82; 83; 84; 85; 86; 87]. It has been used primarily for clinical rehabilitation protocols for children with CP, demonstrating a better quality of upper limb movements due to improvements of QUEST and MAAULF scales at the end of the training [81; 82; 83]. Nonetheless, we also found a study showing that the training with Armeo improved only the MAAULF scale while the QUEST scale remained unchanged, which means improvements in functional gains of the upper limbs and not in the movement characteristics [84]. However, significant improvements in terms of QUEST scale after the training with Armeo has been proven by [PERSON] [85], showing that robotic-assisted therapy is more effective than conventional therapy in promoting functional improvements of upper limbs, suggesting to combine conventional and robotic therapies for the achievement of better rehabilitation gains. In support of this thesis, another study [82] has demonstrated the improvement of functionality of the upper limbs after _Armeo Spring_ training in children with CP and ABI. However, the researchers have noticed that the recovery was different between the two groups and that children with ABI improved essentially in the first period of training whereas children with CP in the second one. Due to this different responses to the same treatment, authors suggested the need to differentiate the rehabilitative protocol according to the neurological disorders. In another study, [PERSON] et al. [86] trained children with ABI with different approaches: CIMT (Constraint-Induced Movement Therapy), PT (physical therapy), _Armeo Spring_ with the purpose to characterize the possible different outcomes. It turned out that CIMT treatment emerged as the most effective in improving the proximal movements, specifically at the shoulder joints, PT promoted an improvement in the distal movements and increased the speed and fluidity of fingers, while the _Armeo Spring_ therapy elicited improvements in shoulder RoM in abduction/adduction but it worsened performance in flexion/extension. According to the authors, this negative effect was related to mechanical constraints imposed by the exoskeleton during the training. Finally, they concluded that these approaches are complementary and could be used together to train children with ABI. In a further study with _Armeo Spring_, [PERSON] et al. [87] calculated an index of performance consistent with the MAS score using the data collected by the robot such as the completion time, the score obtained and the level of difficulty. _ACT3D_ uses weight counterbalancing assistance as it provide a virtual effect of gravity, that is progressively modulated according to the participant's impairments and that can be enhanced or reduced by imposing forces along its vertical axis. We found only one study involving the _ACT3D_ in children with neuromotor disorders [88]. Clinically, it is possible to associate upper limb movements in children with spastic hemiparetic cerebral palsy with those of adults who have had a stroke. For this reason, firstly, [PERSON] et al. [89] have conducted a study using the _ACT3D_ device to investigate the response of arm movements of stroke adults under dynamic conditions. In addition, they have studied [88] its application on a population of children with CP in order to understand the nature of their movement deficits.