Figure 2From: Adaptive robot training for the treatment of incoordination in Multiple SclerosisDesired trajectory construction. Maximum lateral deviation (Δ) from the nominal path calculated after the evaluation of the mean trajectory (grey). It is tripled (3Δ) and centered. The corresponding point became the via-point for minimum-jerk trajectory that enhance (black line) or reduce (black dotted line) subject's error.Back to article page