Fig. 1
From: Performance-based robotic assistance during rhythmic arm exercises
Methodology. Outline of the overall control strategy of the performance-based assistance. First, the movement features are computed by the adaptive oscillator (a) and serve as input to compute the real-time performance in smoothness, velocity, and amplitude (b). These features are then used to compute the gains to tune the level of the assistance forces in smoothness, velocity, and amplitude (c). These three forces are eventually summed up and delivered to the patient