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Table 1 Design and aims of current study

From: Adaptive training algorithm for robot-assisted upper-arm rehabilitation, applicable to individualised and therapeutic human-robot interaction

Conclusions from previous studies with the GENTLE/A rehabilitation system[14, 15] Design and aims of current study
Duration given to execute a point-to-point movement was either too short and did not allow the participant to lead the interaction or too long and led to a lazy performance of the participant. Algorithm: An algorithm was proposed that would adapt the duration given to execute a point-to-point movement to reach an optimum value according to the performance of the participant.
Type of the movement (reaching/returning) was influencing the performance of the participant. Points on cube: Set of points was chosen such that different combinations of reach-return and ground level - against gravity – towards gravity movements were executed during the experiment.
Direction of movement (away/towards) with respect to gravity was influencing the performance, as the participant’s arm was not gravity compensated.
Perception of depth in the Virtual Reality (VR) environment presented during the previous studies was felt difficult by the participants. Embedded vs. Virtual: The virtual environment has been modified to improve the depth perception and an embedded set-up was also introduced to compare the performance of the participants in embedded vs. virtual environments.