# Haptic-Enabled Hand Rehabilitation in Stroke Patients: A Scoping Review
## 3 Results
### Technology to Support Hand Rehabilitation
\begin{table}
\begin{tabular}{c c c} \hline \hline
**Number of Technology** & **Combinations** & **Description** & **Ref ID** \\ \hline \hline \multirow{8}{*}{Three Technologies} & \multirow{8}{*}{\begin{tabular}{c} Haptics, Robotics \\ and VR \\ \end{tabular} } & A CyberGlove and a Rutgers Master II (RMII) haptic glove. The two & \\  & sensing gloves are integrated with VR exercises running on the PC host. & \\  & RMII glove applies forces to help the patient open the hand before & \\  & switching to the target of the exercise & \\ \hline \hline \multirow{8}{*}{\begin{tabular}{c} A semi-immersive workbench that uses stereographic shuttered glasses, a \\ 3D image displayed above the tabletop was observed by the user. The \\ system has also a haptic game selection menu \\ \end{tabular} } & \multirow{8}{*}{\begin{tabular}{c} [52] \\ \end{tabular} } \\  & 2 PHANToM devices placed perpendicular to each other for the pinch & \\  & movement and reconfigured to provide hepatic feedback for the pinch task. & \\  & Haptic feedback was provided for the thumb and index finger, so that the & \\  & participants felt they were lifting a real cube with mass & \\ \hline \multirow{8}{*}{\begin{tabular}{c} Two Technologies \\ \end{tabular} } & \multirow{8}{*}{\begin{tabular}{c} Haptics \\ and VR \\ \end{tabular} } & The PneuGlove used in conjunction with a VR environment (the virtual \\  & hand is controlled by the user, who attempts to open the hand sufficiently \\  & to grasp the objects displayed), to provide haptic feedback in addition to & \\  & the assistance of finger extension & \\ \hline \multirow{8}{*}{\begin{tabular}{c} Two Technologies \\ \end{tabular} } & \multirow{8}{*}{\begin{tabular}{c} Haptics \\ and VR \\ \end{tabular} } & Four VR hand exercises developed using the WorldToolKit graphics library. & \\  & Rutgers Master II glove, a compact haptic interface, was used to apply & \\  & force to the user’s fingertips. It uses non-contact position sensors to & \\  & measure the fingertip position in relation to the palm & \\ \cline{1-1}  & & VR environments designed for impairment and task-specific training using & \\  & discrete tasks. Augmented feedback was provided in the form of sensory & \\  & feedback using haptic cues & \\ \hline \multirow{8}{*}{\begin{tabular}{c} An immersive VR environment based on the classic story of Alice in \\ \end{tabular} } & An immersive VR environment based on the classic story of Alice in \\  & Wonderland + The PneuGlove system provides pneumatic assistance to & \\  & digit extension to help with hand opening or resistance to finger flexion to & \\  & provide haptic feedback & \\ \cline{1-1}  & Visual and haptic feedbacks were implemented using the Handshake & \\  & proSENSE Toolbox. The haptic device is focused on a single finger haptic & \\  & display, in which the force is exerted at the fingertip. & \\ \cline{1-1}  & VR tasks were formulated to ensure that pinch movements were required & \\  & to complete each task and that the patients experienced finger & \\  & strengthening. Here, 2 Novint Falcon devices operated in coordination to & \\  & simulate the haptic perceptions of 2 fingertips (perceived the reaction force & \\  & of the surface and/or the weight of the box). & \\ \hline \hline \multirow{8}{*}{\
\begin{tabular}{c} CyberGlove Haptic MASTER, a 3 DoF, admittance controlled \\ (force-controlled) robot + Simulations for the hand alone, the arm alone, \\ and the hand and arm together using Virtools software package with the \\ \end{tabular} } & \multirow{8}{*}{
\begin{tabular}{c} [56] \\ \end{tabular} } \\  & VPRack plug-in + haptic guidance of arm movement in 3D space that is \\ \cline{1-1}  & & & \\ \cline{1-1}  & & PHANTOM robot and the WREX swiveling wrist support + Virtual Reality & \\ \cline{1-1}  & Robotic and Optical Operations Machine (VRROOM) + Forces only & \\ \cline{1-1}  & & applied by the robot during the Error Augmentation treatment phase & \\ \cline{1-1}  & & CyberGrasp, an exoskeleton device placed on the dorsum of the hand & \\ \cline{1-1}  & & which allows for multiplane arm motion while exerting an extensor force & \\ \cline{1-1}  & & on each individual finger + the virtual piano trainer + CyberGrasp, a & \\ \cline{1-1}  & force-reflecting exoskeleton that fits over a CyberGlove data glove & \\ \hline \hline \end{tabular}
\end{table}