Modality | Specifications | Schema |
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Assistive | Subject’s voluntary activity is required during the entire movement. Robots can assist either providing weight support or providing forces aiming at task completion. |
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Active | The robot is being used as a measurement device, without providing force to subject’s limb. |
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Passive | Robot performs the movement without any account of subject’s activity. |
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Passive-mirrored | This is for bimanual robots, when the unimpaired limb is used to control the passive movement of the affected side. |
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Active-assistive | Assistance towards task completion is supplied only when the subject has not been able to perform actively. At this stage, the subject experiences passive movement of the limb. |
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Corrective | Subject is stopped by the robot when errors (e.g. distance from a desired position) overcome a predefined value and then asked to perform actively again. |
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Path guidance | Robot guides the subject when deviating from pre-defined trajectory. |
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Resistive | Robot provides force opposing the movement. |
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