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

Table 2

Participants in the experiment groups and actions.

Experiments	Actions	Healthy subjects	Hemiplegic patients
Passive-guided mode experiment (PGE)	Line tracking and circle tracking task with robot at passive-guided mode	11	3
Active-constrained mode experiment (ACE)	Line tracking and circle tracking tasks actively without constraint; (ALNC and ACNC)	11	1
	Line tracking and circle tracking tasks actively with constraint; (AL and AC)	11	1