Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

Figure 13

(a) Stretch and grip preparation stages, (b) stretching (ascending process), accompanied by hand release, (c) to achieve the intended goal, hand grip, and (d) stretch (descent process).

(a)

(b)

(c)

(d)