# Haptic-Enabled Hand Rehabilitation in Stroke Patients: A Scoping Review
## 3 Results
### Technology to Support Hand Rehabilitation  
The articles related to haptics as targeted intervention modalities involved a combination of haptics associated with one to three other intervention modalities: robotics and/or virtual reality and/or gaming). Figure 4 shows the modalities of interventions classified by the number of technologies involved, namely two technologies or three or four. The combination of haptics with robotics and virtual reality was the most represented combination of intervention modalities to support hand rehabilitation (13 articles), followed by haptics and virtual reality (9 articles) and haptics and robotics (7 articles) (Figure 4). The interventions included in the 42 articles are described in Table 1.  
Figure 3: (**a–d**) Characteristics of the interventions reported in the included articles. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Number of Technology** & **Combinations** & **Description** & **Ref ID** \\ \hline \multirow{6}{*}{Haptic and gaming} & A system that can physically assist or resist the user in playing the therapy & \multirow{2}{*}{[37]} \\  & Haptic and gaming & games. For example, in Breakout Therapy, the force feedback joystick & \\  & Haptic and gaming & physically assists in hand movement by predicting the trajectory of the ball & \\  & Haptic and gaming & after each rebound & \\ \hline \multirow{6}{*}{Two Technologies} & Special robot handle generating cutaneous sensory inputs for the middle & \multirow{2}{*}{[31]} \\  & and index fingers, the thumb, or the palm of the subject + InMotion2 robot & \\ \cline{2-3}  & Haptic system enabling classification of the signals for the real-time & \multirow{2}{*}{[32]} \\  & identification of a command; exoskeleton of a hand (robotic orthosis) + BCI & \\  & system consisted of an EEG, encephalopathy, and a personal computer & \\ \cline{2-3}  & Haptic 3 DoF robot: a singly actuated 3 DoF device for assisting in & \multirow{2}{*}{[27]} \\  & reaching movements in three dimensions across the user’s workspace & \\ \cline{2-3}  & Two & \\ \cline{2-3}  & Technologies & Haptic Master to correct trajectory performance guided by extra & \\  & proprioceptive feedback & \\ \cline{2-3}  & Haptics and robotics & A magnetic plate that is equipped with a force sensor that gauges how & \\  & hard the fingers press + Vibrotactile glove system designed with light & \\  & fabric for greater wearability, which is a finger training system in which & \\  & users interact with the computer & \\ \cline{2-3}  & An industrial robot (5 DoF desktop robot with position-based control) & \\  & converted into a novel sensory system incorporating force feedback & \\  & combined with a graphical interface & \\ \hline \multicolumn{3}{l}{The ARMin III exoskeleton, which can apply torques directly to each of the 6 DOF of the arm (3 shoulder torques, elbow, flexion–extension,} \\ \multicolumn{3}{l}{supination–pronation, wrist flexion–extension). The robot applies haptic } \\ \multicolumn{3}{l}{walls that are exponentially related to each individual joint’s error from its ideal position} \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Portrait of the haptic enabled interventions retrieved in this scoping review. This table shows the technologies used in hand rehabilitation in combination with haptic technologies. Each row presents a study, and studies are classified by the number of technology involved in the intervention ranging from two to four technologies. Figure 4: Combinations of hand rehabilitation technologies.