complementary analysis between assistive torque and maximum frequency reached during tracking (subject S3). (A) Left panel: Maximal target frequency reached for the different DOFs during the 40s steps, identified by the starting position in the ROM with respect to the neutral position. Right panel: Mean value of the assistive torque (in 10-3Nm) during the corresponding steps.(B) Mean tracking speed, for the different DOFs, in the different 40s steps, identified by the starting position in the ROM with respect to the neutral position. Gray and black curves correspond to the opposing parts of the movements (F vs. E, Ad vs. Ab, P vs. S). (C) For each value of the offset rotation and each DOF, the graphs show the ROM of the robot (shaded band) and the ROM of subject S3 (black curves). X-axis identified the spammed ROM for the exercised Dof; positive and negative value are referred respectively to F/E, Ab/Ad and P/S while zero is the neutral position. Y-axis is the amplitude oscillation reached by the target (shaded band) and by the subject.