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Table 9 Durations (sec) calculated by substituting b i values of interaction variables into Equation 1

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

  Against gravity (G0) Towards gravity (G1) Ground level (G2)
Virtual (EV0) 6.358 6.475 8.190
Embedded(EV1) 2.881 7.191 7.543
Return (RR0) 6.358 6.475 8.190
Reach (RR1) 10.792 8.227 8.864