Table 1 Abbreviations and description of robotic task parameters for three robotic tasks: visually guided reaching task, arm position matching task and ball drop object hit task

Visually Guided Reaching

Reaction Time

RA1*

Time between illumination of the peripheral target and onset of movement

First Movement Max. Speed

RA2

Maximum hand speed during the participant’s initial movement

First Movement Distance

RA3

Distance the hand traveled during the participant’s initial movement

First Movement Direction Error

RA4

Angular deviation between (a) a straight line from the hand position at movement onset to the peripheral target and (b) a vector from the hand position at movement onset to the hand position after the initial phase of movement

Total Movement Time

RA5

Total time elapsed from movement onset to offset

Path Length

RA6

Total distance traveled by the hand between movement onset and offset

Path Length Ratio

RA7

Total distance traveled by the hand between movement onset and offset divided by the straight line distance.

Movement Time Maximum Speed

RA8

Maximum speed that the hand traveled during the entire reaching movement.

Number of Movement Peaks

RA9

Number of hand speed maxima between movement onset and offset

Min. Max. Speed Difference

RA10

Differences between local speed peaks and minima

First Movement Maximum Speed Ratio

RA11

Ratio of (a) the maximum hand speed during the participant’s initial movement to (b) the global hand speed maximum of the trial

First Movement Distance Ratio

RA12

Ratio of (a) the distance the hand traveled during the participant’s initial movement to (b) the distance the hand traveled between movement onset and offset

Posture Speed

RA13

Mean hand speed for 500 ms before peripheral target illumination

Arm Position Matching

Variability X (m)

M1

Mean of standard deviation of the active hand’s position over all target locations in the x direction

Variability Y (m)

M2

Mean of standard deviation of the active hand’s position over all target locations in the y direction

Variability XY (m)

M3

Mean of standard deviation of the active hand’s position over all target locations in the xy direction

Contraction/expansion ratio X

M4

Range/area of the workspace matched by the active hand relative to that of the passive hand in the x direction.

Contraction/expansion ratio Y

M5

Range/area of the workspace matched by the active hand relative to that of the passive hand in the y direction.

Contraction/expansion ratio XY

M6

Range/area of the workspace matched by the active hand relative to that of the passive hand in the xy direction.

Shift X (m)

M7

Mean of the mean error between the active and passive hands for each target location over all targets in the x direction.

Shift Y (m)

M8

Mean of the mean error between the active and passive hands for each target location over all targets in the y direction.

Shift XY (m)

M9

Mean of the mean error between the active and passive hands for each target location over all targets in the xy direction.

Object Hit

Total hits

OH1

Number of balls that are hit and leave the display area of the subject’s workspace

Hits with Affected Arm

OH2

Number of balls that are hit with the affected arm of stroke participants

Hits with Unaffected Arm

OH3

Number of balls that are hit with the unaffected arm of stroke participants

Hand bias of hits

OH4

Normalized difference between the total number of hits with right and left hands

Miss bias

OH5

Quantifies whether there was a spatial bias in position of balls missed in workspace

Hand transition

OH6

Line in the workspace where the participant’s preference switches from one hand to the other

Hand selection overlap

OH7

Quantifies whether both hands share the workspace

Median error

OH8

Point in the task where the participant missed half of the balls that they missed in the entire task as a percentage of the total number of balls

Hand speed – Affected Arm

OH9

Average hand speed during the task for the affected arm of subjects with stroke

Hand speed – Unaffected Arm

OH10

Average hand speed during the task for the unaffected arm of subjects with stroke

Hand speed bias

OH11

Normalized difference between mean hand speeds of the left and right hands

Movement area – Affected Arm

OH12

Area of space used by the affected arm of subjects with stroke during the task

Movement area – Unaffected Arm

OH13

Area of space used by the unaffected arm of subjects with stroke during the task

Movement area bias

OH14

Quantifies differences in the size of the workspace used by each hand