Fig. 7

The movement execution and muscle activity in the third session. a Averaged point-to-point Euclidean distance (d _EE ) for the EE trajectories between passive (WEP3) and assistive modality with EE control (WEAE - dark cyan line) and between passive and assistive modality with joint control (WEAJ - dark yellow line) for the twelve targets arranged in a clock-like fashion. The mean values refer to three subjects and three repetitions. b Mean Pearson correlation coefficients (R _joint ) and the mean angular distance (d _joint ) in deg for the twelve targets arranged in a clock-like fashion (each mean value refers to three subjects and three repetitions). Dark cyan lines code the R _joint and d _joint between passive and assistive modality with joint control. Dark yellow lines code the R _joint and d _joint between passive and assistive modality with EE control. The maximum value for the correlation and for the distance is reported in the upper right corner of each plot. c Spinal maps for a representative target (i.e., North target) for the three conditions (left: passive modality; center: assistive modality with EE control; right: assistive modality with joint control). On the x-axis the duration of the movement is represented in percentage and it includes the forward and backward movement. The black lines code the mean CoA. The mean values for the spinal maps and the CoA refer to three subjects and three repetitions. On the right, the 2D correlation coefficient between two maps (R _Map-EMG ) and the mean distance (d _COA ) of the related CoAs are reported. Dark cyan lines code R _Map-EMG and d _COA between passive and assistive modality with joint control. Dark yellow lines code R _Map-EMG and d _COA between passive and assistive modality with EE control. The maximum value for the correlation and the distance is reported in the upper right corner of each plot. d In the first column, the weighting coefficients are represented for the three conditions (in dark red: passive modality; in dark cyan: assistive modality with joint control, in dark yellow: assistive modality with EE control). The mean and standard errors refer to three subjects. In the second column, the RMS _SYN is reported for the 12 targets and it corresponds to the average values across three subjects and three repetitions. Dark red, dark cyan, dark yellow lines code the passive modality, the assistive modality with joint control, and the assistive modality with EE control, respectively. The maximum value for the RMS _SYN is reported in the upper right corner of the plot of S1. In the third column, the spatiotemporal organization of each muscle synergies for passive modality (first column), assistive modality with EE control (second column), and assistive modality with joint control (third column) is reported for target North. Each map is the average among the maps of three 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. In the fourth column, the R _Map-SYN for all the targets are reported. Dark cyan lines code the comparison between passive and assistive modality with joint control. Dark yellow lines code the comparison between passive and assistive modality with EE control. The maximum value for the correlation is reported in the upper right corner of S1