Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

<div>The interaction force and end-effector distance during ACE. (a) The average interaction force and end-effector distance of healthy  subjects and (b) that of the hemiplegic patient. <i>F</i>: the interaction force; <i>D</i>: the distance; AC: active circle tracking task with constraint; AL: active line tracking task with constraint; ACNC: active circle tracking task with no constraint; ALNC: active line tracking task with no constraint.</div>

Journal of Healthcare Engineering

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Figure 8

Figure 8: Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 

Figure 8 | Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 