Fig. 6

Trainer- and robotic arm-applied forces across 6 days of telerobotic locomotor training for six patients who have survived strokes (P1-P6). The red bars show the average commanded trainer force \({\varvec{F}}_{{\varvec{T}}}\) (average ± std. across steps) for the last trial of each day. This force is an amplified version of the force computed from the deflection of a manipulandum held by the trainer. The black bars show the average force applied to the patients’ affected legs by the robotic arm (\({\varvec{F}}_{{\varvec{R}}}\)). This force was measured by a force transducer on the end of the robotic arm close to where it was magnetically attached to the lower leg of the patients. P1-P3 received assistance from Trainer 1 (*except on Day 5 Trainer 2 assisted); P4-P6 received assistance from Trainer 2. ^†P3 received resistance from Trainer 1 on Day 4. T1 = Trainer 1; T2 = Trainer 2