Fig. 2From: Adaptive hybrid robotic system for rehabilitation of reaching movement after a brain injury: a usability studyKinematic representation of the rotation axes. a Exoskeleton θ = {θ1, θ2, θ3, θ4, θ5}. b Human arm Ø = {Ø1, Ø2, Ø3, Ø4, Ø5}Back to article page