Fig. 6
From: Performance-based robotic assistance during rhythmic arm exercises
Real-time smoothness metric as a function of lateral and longitudinal errors. The left panels present the impact on the metric due to lateral errors (errors in amplitude), and the right panels show the impact due to longitudinal errors. The two upper panels display the simulated variation of amplitude and velocity (the product of amplitude and frequency), while the middle panels represent the metric variation as a function of the error frequency (fixed error amplitude), mean signal frequency, and mean signal amplitude, and the bottom panels present the metric variation as a function of the error amplitude (fixed error frequency), mean signal frequency, and mean signal amplitude