Figure 2From: Assessment-driven selection and adaptation of exercise difficulty in robot-assisted therapy: a pilot study with a hand rehabilitation robotDetailed description of exercises E 1 - E 7 . The heuristically defined exercise parameters used to customize the difficulty levels are shown within curly brackets in the “Exercise parameters” column. Refer to the flowchart in Figure 3 for a description of the patient-tailored and adaptive therapy concept.Back to article page