Fig. 6

Results for the functional task. Symbols represent participants. a With orthosis assistance, participants rated their perceived exertion while elevating a weight 1.25 points lower on the Borg Scale. Black bars represent means, grey boxes represent 95% confident intervals (standard error of the mean). b To keep fatigue to a minimum, participants were asked to elevate the weighted bottle in flexion direction only. Exemplary angular position and velocity data for one elevation (ascent—hold weight—descent) from participant P4, overlayed with the respective minimum jerk trajectory (MJT). c Movement smoothness in terms of the dimensionless SPARC metric for arm ascent and descent. The MJT represents an upper bound for movement smoothness