Figure 2From: Multivariate analysis of the Fugl-Meyer outcome measures assessing the effectiveness of GENTLE/S robot-mediated stroke therapyPrecursor commercial incarnation of GENTLE/S. This figure depicts the controls for wheelchair docking, and controlling the arm support forces on the left. Patient controls are seen under the subject's left hand and a therapy can be chosen or halted and will only proceed if the 'operate' button is held down. The patient can 'eject' their arm from the HapticMaster.Back to article page