Figure 1

SAIL system components: 1) Hocoma ArmeoSpring® support, 2) surface electrodes on triceps brachii and anterior deltoid muscles, 3) realtime processor and interface module, 4) monitor displaying VR task, and 5) monitor displaying therapist user interface. 6) shows an example of a reaching task displayed to a stroke participant with left hemipshere damage. An image of their own arm is shown and they are encouraged to follow a sphere which moves along a reference path (the trajectory); in this case from bottom right to top left.