Here is another robot designed to help patients with upper body rehab. The ANYexo has an upper-limb exoskeleton with low-impedance torque controllable series elastic actuators to treat patients with neural impairment. It supports a large range of motion for torso, head, and behind the back movement.
This system delivers accurate haptic interaction and allows faster recovery. It supports movements close to the body. The above video shows it ion action.