## 5 Conclusions  
For patients with sABI, trunk control is essential to their recovery since it is necessary for both the restoration of ambulation and the return of independence in carrying out everyday tasks. Numerous research projects have focused on managing trunk control in stroke patients in an effort to improve treatment strategies and results. The rehabilitation of patients with sABI represents a challenge both from a clinical point of view, considering the heterogeneity of the pathology and the deficits that can occur, and from a management point of view, considering the complexity of the clinical picture and the aids that can occur. This pilot study, despite the small sample size, suggested that robotic trunk rehabilitation with humova(r) in patients with sABI is a feasible, effective and versatile tool, which showed positive clinical and instrumental outcomes considering sitting balance, trunk control, autonomy, quality of life and fatigue. On this basis, further research should be performed on larger samples to better assess the possible impact of robotic-assisted rehabilitation treatment in sABI. The following supporting information can be downloaded at [[https://www.mdpi.com/article/10.3390/app15052539/s1](https://www.mdpi.com/article/10.3390/app15052539/s1)]([https://www.mdpi.com/article/10.3390/app15052539/s1](https://www.mdpi.com/article/10.3390/app15052539/s1)): Figure S1: Comparison of results from T0 and T1 between HuG and CoG in static balance (Center of Pressure displacements in 30 s with eyes open, EO, and eyes closed, EC, trunk movement with EO and EC). The decrease in COP path values at EO (\(p\) = 0.050) and EC (\(p\) = 0.031) is indicative of the decrease in COP displacement, and thus greater stability. Similarly, the decrease in trunk movement with EO (\(p\) = 0.046) and EC (\(p\) = 0.011) is indicative of trunk stabilization; Figure S2: Comparison of results from T0 and T1 between HuG and CoG in elastic balance (Center of Pressure displacements in 30 s with eyes open and eyes closed, trunk movement with eyes open and eyes closed). The decrease in COP path values at EO (\(p\) = 0.004) and EC (\(p\) = 0.031) is indicative of the decrease in COP displacement, and thus greater stability in dynamic condition. Similarly, the decrease in trunk movement with EO (\(p\) < 0.001) and EC (\(p\) < 0.001) is indicative of trunk stabilization in dynamic condition; Figure S3: Comparison of results from T0 and T1 between HuG and CoG in LOS assessment (maximum trunk inclination right, left and forward). Decreased values of trunk inclination to the right (\(p\) = 0.004), left (\(p\) = 0.013) and forward (\(p\) = 0.047) are indicative of greater trunk control during wide movements within one's base of support; Figure S4: Comparison of results from T0 and T1 between HuG and CoG in static balance with raised seat (Center of Pressure displacements in 30 s with eyes closed, trunk movement with eyes open and eyes closed). The decrease in COP path values with EC (\(p\) = 0.031) is indicative of decreased COP displacement and thus increased stability under conditions involving a decreased base of support. Similarly, the decrease in trunk movement with EO (\(p\) = 0.047) and EC (\(p\) = 0.050) is indicative of trunk stabilization considering decreased base of support. Conceptualization, L.C. and S.G.; methodology, C.L. ; formal analysis, C.L. ; investigation, A.M.M. ; S.R., L.F. and V.A. ; data curation, F.D.C. and I.P. ; writing--original draft, L.C. ; writing--review and editing, L.C., C.L. and S.G.; visualization, L.P.; supervision, S.G. All authors have read and agreed to the published version of the manuscript. This research received no external funding. The study was conducted in accordance with the Declaration of Helsinki, and approved by the Ethics Committee Fondazione Policlinico Universitario A. Gemelli IRCCS (protocol code 0045311/21 of the 16 December 2021). Informed Consent Statement: Informed consent was obtained from all subjects involved in the study.