Quantitative Assessment of Motor Function for Patients with a Stroke by an End-Effector Upper Limb Rehabilitation Robot

Table 1

Primary agonist and antagonist for shoulder and elbow joints.

Movement	Primary agonist and antagonist
Shoulder flexion/extension	Trapezius (TR)-Latissimus dorsi (LA)
Shoulder abduction/adduction	Deltoid muscles (DE)-Latissimus dorsi (LA)
Shoulder internal/external rotation	Infraspinatus (IN)-Subscapularis(SUP)
Elbow flexion/extension	Biceps brachii(BB)-triceps brachii(TB)