Figure 7From: The development of an adaptive upper-limb stroke rehabilitation robotic systemInitial POMDP belief state of example 1. This figure shows the initial belief state of n(r), stretch, fatigue (abbreviated as fat), and learnrate. The POMDP sets the target at d = d1 and resistance at r = max. The user reaches the target with ttt = norm, ctrl = max, and comp = no.Back to article page