Figure 4
Example of robotic data collected by the HapticKnob. Evolution of pronation movements for patient A3 over the course of the therapy at sessions 1, 4, 8, 12, 16 and 18, each line representing one trial. The target angular position window is represented by horizontal dashed lines. Details of parameters extracted from the kinematic data are given in the lower left plot for one successful trial; tr is the time required to reach the target window for the first time, and ta is the time required to finely adjust the forearm position.