Figure 2From: Performance adaptive training control strategy for recovering wrist movements in stroke patients: a preliminary, feasibility studyController diagram. The "assist-as-needed" force parabolic term continuously inputs torque Ï„ m when errors are present during the tracking task. The input torque to the robot/hand system is the sum of different contributions of a viscous field Ï„ v , a gravity Ï„ G and inertia Ï„ I compensation. Ï„ H is the torque applied by the subjects wrist.Back to article page