Human arm weight compensation in rehabilitation robotics: efficacy of three distinct methods

Table 4 Maximum horizontal workspace relative to the Haptic Table condition in percent: The maximum horizontal workspace of the conditions Transparent and Equilibrium relative to condition Haptic Table (percentage %) are presented for each subject and height level

workspace normed to table condition in %
	Shoulder height
Patient	Transparent	Equilibrium
P1	13.9	69.8
P2	75.7	81.6
P3	0.2	56.5
	Chest height
P1	7.4	82.7
P2	49.7	67.9
P3	32.4	54.7
	Abdomen height
P1	8.2	78.4
P2	79.7	93.0
P3	34.8	53.8

Three stroke patients P_i,i∈(1,2,3) on the three different horizontal levels (abdomen, chest, and shoulder height) are presented

ISSN: 1743-0003