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Fig. 2 | Journal of NeuroEngineering and Rehabilitation

Fig. 2

From: Performance-based robotic assistance during rhythmic arm exercises

Fig. 2

Assistance forces. The three assistance forces that can be provided to the patient to enhance the movement features are presented in the three panels. a The smoothness assistance attracts the patient to the smooth position produced by the adaptive oscillator, b the velocity assistance tangentially supports the patient to reach the desired velocity, and c the amplitude assistance is a radial force towards the desired amplitude

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