Fig. 5
From: Exploiting telerobotics for sensorimotor rehabilitation: a locomotor embodiment
Evaluation of transparency in unimpaired participants: summary statistics. Step kinematics and robot interaction forces (\({\varvec{F}}_{{\varvec{R}}}\)) while two unimpaired subjects (U1 & U2) walked on a treadmill with (with robot; WR; red) and without (no robot; WR; black) a robotic arm attached to their legs. When the robotic arm was attached, it was programmed to follow along and not interfere with the subjects’ locomotion. The error bars denote one standard deviation across steps for the last two minutes of walking