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Figure 2 | Journal of NeuroEngineering and Rehabilitation

Figure 2

From: Myoelectrically controlled wrist robot for stroke rehabilitation

Figure 2

Trajectories, EMG signals and assistive torque in a cycle; the target trajectory(red dotted line), actual trajectory (blue solid line), normalized EMG signal of ECR and FCR and assistive torque provided by the robot during one cycle when the EMG-torque gain was 50%. The negative value of assistive torque was the assistive torque during wrist extension; and the positive value was the assistive torque during wrist flexion. There was no assistive torque during the rest time when the wrist angle reached the 60 degree wrist flexion at the middle of this trial.

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