Fig. 8

Adaptation and retention across 6 days of telerobotic locomotor training for six patients who have survived strokes (P1–P6). The black bars show the swing kinematics at the start of each day without assistance (average ± std. across steps for the first no-assistance trial). The red lines show the average swing kinematics at the end of the day with assistance from a trainer using the telerobotics system (average ± std. across steps for the last trial). P1–P3 received assistance from Trainer 1 (*except on Day 5 Trainer 2 assisted); P4–P6 received assistance from Trainer 2. ^†P3 received resistance from Trainer 1 on Day 4. The step length target is indicated by the green horizontal line. For P1 the target was increased after the first day; for P2 the target was calculated using the third no-assistance trial. T1 = Trainer 1; T2 = Trainer 2