Fig. 6

Patient display for the Haptic table, Transparent, and Equilibrium condition: The arm pose of the patient in ARMin was projected to the virtual avatar arm. The hand (end-effector) of the patient paints in black the boarders of the horizontal workspace on a virtual plane. The black target cursor in the red/green height panel shows the current height of the hand in the room. On the left side (haptic table), the patient can fully lean on the haptic table in the lower green panel part, which leads to passivity. Nevertheless, the haptic table condition provides a valuable measurement to show the physically maximal possible workspace for the patient. On the right side, the patient has to hold his/her arm actively in the middle green panel part, else the trial was ended and the patient was guided back to the starting pose