Fig. 2

Boxplots of the therapy dose achieved during the unsupervised phase. (a) Mean daily therapy duration in minutes and (b) mean number of daily task repetitions for each subject and only for the days when they trained with the ReHapticKnob. (c) Percentage increase in therapy time due to the robot-assisted therapy with respect to the conventional physical therapy program only (i.e., physio- and occupational therapy). Different markers represent the different participants