Fig. 5

The muscle activity in the conditions: free movements (NE), passive modality day 1 (WEP1), and assistive modality (WEA). a The pre-processed EMG signals for a representative target (North) in the three conditions. The mean values refer to six subjects and three repetitions. The duration of each movement is represented in percentage, and it includes the forward and backward movement. In correspondence to each muscle activation is reported also the RMS _EMG for the 12 targets. Blue, dark red, and green lines code the free movements, the passive modality, and the assistive modality, respectively. The maximum value for the RMS _EMG is reported in the upper right corner of the DANT muscle. On top of the RMS _EMG plot, the p-values, Bonferroni corrected for the number of targets, between free movements and passive modality (top row) and between passive and assistive modality (bottom row) for the twelve targets are reported according to a gray scale. b The spinal maps 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): in the first row, the free movements; in the central row, the passive modality; in the bottom row, the assistive modality. Each spinal map is the average among the maps of 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. The black lines represent the averaged CoA. On the right, the 2D correlation coefficients (R _Map-EMG ) and the mean distance (d _COA ) of the related CoAs are reported for each target. Dark blue lines code the comparison between free movements and passive modality. Dark green lines code the comparison between passive and assistive modality. The maximum value for the correlation and the distance is reported in the upper right corner of each plot