## Results
### Robotic Protocols for Upper Limb Rehabilitation  
Here we present the robotic protocols related to each robot and performed by children in the selected clinical studies, emphasizing the characteristics of the treatments and their results. Table 2 summarizes the fundamental features of the clinical studies. The _InMotion2_ is based on performance and impedance-based control strategies. Typically, the levels of assistance are triggered according to three parameters: (1) the speed of the end-effector (when the child's arm speed exceeds a certain threshold), (2) the recorded EMG activation (when at least one of the recorded muscles overcomes a threshold) or (3) the elapsed time from the prompt stimulus delivery (when the child is not able to move the handle within a fixed time period) [75]. Such three parameters are not only used to trigger robotic assistance, but also constantly measured to continuously modulate the robotic assistance according to child's performance and to make the rehabilitation adaptive and progressive. In particular, we quote 7 clinical studies involving this device [14; 21; 26; 76; 77; 78; 79; 80]. In one study [76], the robot was used to show the different responses of healthy children and pediatric patients to perturbing force fields: specifically, healthy subjects tend to learn to compensate for perturbed forces and consequently predict the force field; in contrast, children affected by weakness and spasticity due to CP, show a limitation of brain capacity to calibrate the sensorimotor system. This effect also implies the difficulty of creating an anticipatory strategy to counteract a deviation of force field [76] and thus a reliable internal prediction model [77]. [PERSON] et al. [26] have shown that the use of the _InMotion2_ for the rehabilitation of children with neurological disorders (CP, ABI) had a great benefit, as it could drastically improve both clinical and robotic measures. Additionally, [PERSON] et al. [14] have demonstrated that the robotic training with the device for children with hemiplegia due to CP or ABI showed improvements in coordination of upper limb and quality of movement with a low impact on spasticity and muscle strength, and also a slight improvement in distal dexterity. In another study, [PERSON] et al. [78] have investigated the effectiveness of the robot-assisted therapy following BTX-A injections to reduce spasticity in elbow, wrist and finger flexors in a child with CP. They showed that, at the end of the training, the child decreased muscle tone, improved upper limb coordination and quality of movement while the strength remained the same, concluding that these outcomes were similar to those obtained after conventional occupation therapy combined with injections of BTX-A. Moreover, [PERSON] et al. [79] confirmed also the benefits of using robotic therapy in children affected by stroke. More specifically, they compared the reactions to _InMotion2_ robotic training of pediatric stroke patients with those of adult stroke population undergoing early robotic-assisted therapy. They showed a slower rate of improvement of the FMA scale in children than in adults, with the highest growth in the first 3 months. Another study with this device concerned the comparison between the sequential (predictable) and random (unpredictable) modes of administration of the exercises during training [21]: the researchers have shown no significant differences between them. The random group required higher level of attention during the treatment without any immediate improvement but with greater gains at the six-monthly evaluation; the sequential group showed better initial results with the acquired values that remained unchanged over time. The last study [80] concerns the development of an approach based on data extraction in the initial phase of the training session with _InMotion2_. The aim of this method was to understand the patient's learning rate, to predict his/her progress and to design a more customized rehabilitation protocol according to his/her needs.