Background: Appropriate training modalities for post-stroke upper-limb rehabilitation are key features for effective recovery after the acute event. This work presents a novel human-robot cooperative control framework that promotes compliant motion and renders different high-level human-robot interaction rehabilitation modalities under a unified low-level control scheme. Methods: The presented control law is based on a loadcell-based impedance controller provided with positive-feedback

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... ion terms for disturbances rejection and dynamics compensation. We developed an elbow flexion-extension experimental setup, and we conducted experiments to evaluate the controller performances. Seven high-level modalities, characterized by different levels of (i) impedance-based corrective assistance, (ii) weight counterbalance assistance, and (iii) resistance, have been defined and tested with 14 healthy volunteers.Results: The unified controller demonstrated suitability to promote good transparency and render compliant and high-impedance behavior at the joint. Superficial electromyography results showed different muscular activation patterns according to the rehabilitation modalities. Results suggested to avoid weight counterbalance assistance, since it could induce different motor relearning with respect to purely impedance-based corrective strategies. Conclusion: We proved that the proposed control framework could implement different physical human-robot interaction modalities and promote the assist-as-needed paradigm, helping the user to accomplish the task, while maintaining physiological muscular activation patterns. Future insights involve the extension to multiple degrees of freedom robots and the investigation of an adaptation control law that makes the controller learn and adapt in a therapist-like manner.