Closed-loop Sensorimotor Integrated (CSMI) Control in Exoneuromusculoskeleton (ENMS) for Precise Wrist-hand Rehabilitation After Stroke

Inclusion Criteria: 1. at least 6 months after the onset of a unilateral lesion due to stroke; 2. moderate to severe motor disability in the paretic wrist-hand joints (6\<Fugl-Meyer Wrist-Hand Assessment (FMAWH)\<14) and spasticity in wrist-hand (Modified Ashworth Score (MAS) ≤3); 3. sensory impairment on their affected forearm with a score of 1 measured by the sensation part of light touch in the FMA; 4. maximal voluntary contraction (MVC) with detectable EMG (3 times of the standard deviation above the resting EMG baseline) in the muscle union of the flexor digitorum and flexor carpi radialis (FD-FCR) and that of the extensor digitorum and extensor carpi ulnaris (ED-ECU); 5. sufficient cognition to follow experimental instructions (Mini-Mental State Examination score \>21); 6. aged from 30 to 70 years. Exclusion Criteria: 1. currently pregnant; 2. dysphasia (language deficiency); 3. skull implantation; 4. post-stroke neglect; 5. pacemaker implantation; 6. involved in drug studies, other clinical trials, or concurrent medication/occupational/physical treatments on the upper limb; 7. the overall medical condition not suitable for the training (e.g., severe cardiac problem, unstable blood pressure, etc.).