Figure 10From: The development of an adaptive upper-limb stroke rehabilitation robotic systemUpdated POMDP belief state of example 2. This figure shows the updated belief state of n(r), stretch, fatigue (abbreviated as fat), and learnrate when the user failed to reach the target at d = d3. The POMDP resets the target at d = d3 and resistance at r = none. The user reaches the target with ttt = norm, ctrl =max, and comp = no.Back to article page