Figure 5From: Skill transfer from symmetric and asymmetric bimanual training using a robotic system to single limb performanceVelocity of the handlebar p ̇ , reference velocity p ̇ ref , and disturbance torque τ dist . The predefined reference velocity (trapezoidal velocity profile) is in every trial the same. The translational velocity also corresponds to the disturbance torque (Equation 2).Back to article page