Fig. 4

Participant T06 sine and pseudo-random target tasks. a Slow sinusoid target motion b Slow pseudo-random target motion. For both subfigures a and b, the top two subplots show the position and velocity associated to the target T, the TSO and the MO. The velocity plot also shows the fMO velocity. The pseudo-random position plot also shows the successive random targets (solid green square wave). The bottom two subplots refer to the TSO interaction torque and the PSD obtained for both the TSO and MO. The measured torque Fm represents the combined voluntary and tremor components. The estimated torque Fe represents the voluntary component as a result of online filtering