Figure 6From: Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjectsThe grasping force and the load force. The grasping force and the load force during pick-and-place movement for grasping phase (gPh), transport phase (tPh) and release phase (rPh). The movements were performed by a subacute subject who had no grasping assistance. Each line represents the force during single pick-and-place movement.Back to article page