Fig. 4

The execution of the reaching task in the conditions: free movements (NE), passive modality day 1 (WEP1), and assistive modality (WEA). a Averaged mean distance (nMD), pace (Pace), and numbers of peaks in the speed profile (nPK) across the six subjects are represented for the twelve targets arranged in a clock-like fashion (each value represents the mean across six subjects and three repetitions for the forward and backward movements). Dark blue and red lines code the free movements and the passive modality, respectively. The maximum value for the nMD, Pace, and nPK is reported in the upper right corner of each plot. On the bottom, the p-values, Bonferroni corrected for the number of targets, related to the comparison of free movements and passive modality are reported in a gray scale for each target. b The averaged EE trajectories for the free movements (blue line), the passive modality (dark red line), and the assistive modality (green line) for four targets: North, East, South, and West. c The averaged four angular trajectories (Sh-Abd, SH-Rot, SH-Flx, and EL-Flx) are represented for four representative targets (North in the first column, East in the second column, South in the third column, and West in the fourth column). The mean and the standard errors refer to six subjects and three repetitions. On the x-axis the duration of the movement is represented in percentage, and it includes the forward and backward movement. Blue, dark red, and green lines code the free movements, the passive modality, and the assistive modality, respectively. On the right, the Pearson correlation coefficients (R _joint in the first column) and the angular distance (d _joint in the second column) in deg are reported for each target. Each value represents the mean across six subjects and three repetitions. Blue lines code R _joint and d _joint between free movements and passive modality. Green lines code R _joint and d _joint between passive and assistive modality. The maximum value for R _joint and d _joint is reported in the upper right corner of each plot. Figure 4a was already reported in [21]