Upper-Limb Muscle Synergy Features in Human-Robot Interaction with Circle-Drawing Movements

Figure 1

Setup and experimental design. Participants were asked to keep their upper body stable, and their forearm was tied to the joystick of EULRR. (a) Participants sit on the left side of EULRR to implement circle-drawing movement by using their right hands; (b) the illustration of clockwise and counterclockwise circle-drawing movements with constraint of EULRR system.

(a)

(b)