Figure 8From: The development of an adaptive upper-limb stroke rehabilitation robotic systemUpdated POMDP belief state of example 1. This figure shows the updated belief state of n(r), stretch, fatigue (abbreviated as fat), and learnrate after the user compensates for the first time. The POMDP sets the target at d = d3 and resistance at r = max. The user reaches the target with ttt = norm, ctrl = max, and comp = yes.Back to article page