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Figure 2 | Journal of NeuroEngineering and Rehabilitation

Figure 2

From: Performance adaptive training control strategy for recovering wrist movements in stroke patients: a preliminary, feasibility study

Figure 2

Controller diagram. The "assist-as-needed" force parabolic term continuously inputs torque τ 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 τ v , a gravity τ G and inertia τ I compensation. τ H is the torque applied by the subjects wrist.

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