Fig. 3From: Exploiting telerobotics for sensorimotor rehabilitation: a locomotor embodimentTrainer force transmission algorithm. A trainer can apply force to a patient by deflecting a manipulandum, which follows a scaled-down version of the patient’s leg motion in real-time. The trainer’s force is amplified and scales with the amount of deflection. Note the gray shading showing the deadband and the red shading showing the range of transmitted forces are not drawn to scaleBack to article page