Figure 6From: Functional electrical stimulation mediated by iterative learning control and 3D robotics reduces motor impairment in chronic strokePanel a) and b) show tracking performance in the assisted tasks over sessions for the elbow and the shoulder respectively; Panel c) and d) show the percentage maximum stimulation applied to the triceps and anterior deltoid respectively, over sessions. Best-fitting regression slopes were calculated for each combination of participant and muscle, with mean slopes (across participants) shown.Back to article page