Table 4 Outcomes per training modality and features of HRI

Training modality

Multiple modalities

Only that modality

Features of HRI when improved

Multiple modalities

Only that modality

Features of HRI when improved

Passive

56 (19 of 34)

50 (2 of 4)

P (2 of 2)

44 (10 of 23)

33 (1 of 3)

P (1 of 1)

Passive-mirrored

43 (6 of 14)

0 (0 of 2)

15 (2 of 13)

0 (0 of 2)

Assistive

57 (16 of 28)

33 (2 of 6)

NC (2 of 2)

38 (6 of 16)

0 (0 of 3)

Active-assistive

58 (36 of 62)

58 (14 of 24)

TA (5 of 14) EMG (4 of 14) PF + SDG (3 of 14) PF + SDG + NC (1 of 14) CF (1 of 14)

48 (15 of 31)

36 (4 of 11)

TA (2 of 4) CF (1 of 4) NC (1 of 4)

Path guidance

86 (6 of 7)

N/A

50 (2 of 4)

N/A

Corrective

80 (4 of 5)

N/A

50 (1 of 2)

N/A

Resistive

64 (14 of 22)

0 (0 of 1)

42 (5 of 12)

N/A

Active

61 (17 of 28)

N/A

60 (9 of 15)

N/A

Feature of HRI

Multiple features

Only that feature

Multiple features

Only that feature

Passive

56 (19 of 34)

60 (3 of 5)

44 (10 of 23)

50 (2 of 4)

Passive-mirrored

43 (6 of 14)

0 (0 of 1)

15 (2 of 13)

0 (0 of 1)

Moving attractor

43 (3 of 7)

0 (0 of 1)

33 (2 of 6)

0 (0 of 1)

Triggered assistance

60 (15 of 25)

50 (7 of 14)

43 (6 of 14)

44 (4 of 9)

Assistive Constant force

42 (5 of 12)

20 ( 1 of 5)

17 (1 of 6)

50 (1 of 2)

Emg-proportional

100 (8 of 8)

100 (5 of 5)

33 (1 of 3)

33 (1 of 3)

Pushing force (in case of delay)

60 (9 of 15)

N/A

33 (2 of 6)

N/A

Spring-damper guidance

61 (11 of 18)

N/A

38 (3 of 8)

N/A

Tunnels or walls

100 (2 of 2)

N/A

0 (0 of 1)

N/A

Spring against movement

60 (6 of 10)

0 (0 of 1)

20 (1 of 5)

N/A

Damper against movement

75 (6 of 8)

N/A

60 (3 of 5)

N/A

Not clear

46 (12 of 26)

50 (5 of 10)

50 (7 of 14)

100 (2 of 2)