Fig. 2From: Human arm weight compensation in rehabilitation robotics: efficacy of three distinct methodsThe five EMG measurement poses (P1,...,P5) for the efficacy comparison study: The poses represent the ADL usage of a stroke subject: P1) Mouth and head reaching (-45,90,90,100,0), P2) Ipsilateral reaching on shoulder level (-45,70,5,60,0), P3) Contralateral reaching (10,70,30,40,60), P4) Medial reaching at shoulder level (-15,65,15,50,0), P5) Ipsilateral reaching on abdomen level (-50,55,30,40,0). Pose coordinates of the axes (1,2,3,4,5) in degree are according to anatomical axes definitions [39]. Axis 1 (horizontal shoulder abduction/adduction), axis 2 (shoulder elevation), axis 3 (internal /external shoulder rotation), axis 4 (elbow flexion/extension), and axis 5 (forearm pronation/supination). P1 and P2 are the chosen estimation poses (14,20) of the sensitivity analysis and P3, P4 and P5 complement the workspace for stroke patients in ARMin. All coordinates of the poses of the sensitivity analysis and efficacy comparison study are shown in the Additional file 2Back to article page