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Assistive
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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
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The robot is being used as a measurement device, without providing force to subject’s limb.
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Passive
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Robot performs the movement without any account of subject’s activity.
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Passive-mirrored
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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
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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
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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
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Robot guides the subject when deviating from pre-defined trajectory.
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Resistive
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Robot provides force opposing the movement.
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