Fig. 9
From: Performance-based robotic assistance during rhythmic arm exercises
Patient data. a Evolution of the smoothness gain along the 5 assisted trials for both patients. The averaged evolution over the 5 trials is displayed in black. b Mean gain for each assisted trial for both patients. c Mean real-time smoothness metric during the trials with and without assistance for both patients. d Mean mechanical work provided by the robot to the patient during one cycle with and without assistance for both patients. Vertical lines in panels b, c, and d capture the patient standard deviation across trials