Fig. 3From: Robot-supported upper limb training in a virtual learning environment : a pilot randomized controlled trial in persons with MSExample of basic motor function exercise ‘reach’ (a) and ‘pull’ (b). Participants have to reach or pull the disk towards the target. Visual feedback on the correctness of the executed trajectory is provided by colour changes of the disk (green, orange, red). During pulling, subjects experience resistance on, or are pulled to, the trajectoryBack to article page