Fig. 5From: Performance-based robotic assistance during rhythmic arm exercisesConvergence of the adaptive oscillator with simulated and experimental data. The two left graphs of both panels (simulated data and experimental data) display the oscillator input (left: simulated; right: actual position of the patient; black line) and the learned position by the adaptive oscillator (red line) as x and x osc (top) and y and y osc (bottom) as a function of time. The top right panel displays the actual movement in space (x and y axes) and the trajectory being estimated by the adaptive oscillator during 3 s. The bottom right panel displays the adaptive oscillator state variables as a function of time as the offsets φ x,o s c , and φ y,o s c and the amplitude α osc in [cm], the phase ϕ osc in [rad] and the angular velocity ω osc in [rad/s]. After two cycles, the oscillator synchronizes with the actual signal and gives a smooth version of the input circle (left: simulated; right: drawn by the patient)Back to article page