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Table 4 Detection of movement type through end-effector rotation.

From: A haptic-robotic platform for upper-limb reaching stroke therapy: Preliminary design and evaluation results

Sensor Response Body Movement
  Abnormal Normal
Detection 45 3
No detection 3 45
  1. Detection of end-effector rotation above the preset threshold of 15° for therapists simulating normal (N = 48) and abnormal (N = 48) movements.