Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety

Table 1

Experimental results of the tracking responses of all experiments.

			MinError (°)	MaxError (°)	RMSD (°)	NRMSD (%)	MATV (Nm)	NRMSD (%)
Zero load		Experiment 1	−2.998	3.074	1.5682	1.08	0.152	NA
Passive training		Experiment 2	−3.054	3.110	1.5767	1.08	1.825	NA
Interaction training	K = 0.8	Experiment 3	−12.784	7.998	2.0879	1.4	3.669	4.13
	K = 1.6	Experiment 4	−6.081	5.211	1.6211	1.12	4.446	2.24

Note. MinError is the maximum tracking error in negative direction, which is numerically minimum; MaxError is the maximum tracking error in positive direction, which is numerically maximum. RMSD: root mean square deviation; NRMSD: normalized root mean square deviation; MATV: mean of absolute torque value; NRMSD represents the NRMSD value of the adapted desired trajectory with respect to the reference trajectory ; NA: not applicable.