Fig. 2From: Towards functional robotic training: motor learning of dynamic tasks is enhanced by haptic rendering but hampered by arm weight supportPendulum dynamics. The m, l, and g represent the pendulum mass, rod length, and gravity, respectively. The pendulum pivot point (EE) was matched to the robot hand module (a stick). The haptic rendering forces from the pendulum dynamics (\(F_{rod}\)) were applied at the robot hand module. The pendulum is depicted in its unstable equilibrium positionBack to article page