Physical Therapy Rehabilitation Science : eISSN 2287-7584 / pISSN 2287-7576

Fig. 2.

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Fig. 2. Additional assistance force (gravity compensation and AAN force) control strategy: when the subject performed robotic arm training, gravity compensation was provided continuously, and an AAN force was only applied when the subject could not move the arm for more than 2 seconds. AAN: assist-as-needed, WAM: Whole Arm Manipulator. Data from the article of Cho and Song (J Phys Ther Sci 2016;28:495-9) [].
Physical Therapy Rehabilitation Science 2019;8:93-8 https://doi.org/10.14474/ptrs.2019.8.2.93