Guidali M, Keller U, Klamroth-Marganska V, Nef T, Riener R. Estimating the patient

1
Figure 4. Experiments with mock-up model of human
arm. Mock-up consisted of two pipes. Upper-arm
pipe has diameter of 100 mm, length of 320 mm,
and weight of 1.8 kg. Lower-arm/hand pipe has
diameter of 90 mm, length of 300 mm, and weight
of 1.7 kg. (a) Torque trajectories for
position-controlled arm elevation movement with
constant speed. (b) Inertia effects for
position-controlled horizontal shoulder movement
with minimal jerk profile.
Guidali M, Keller U, Klamroth-Marganska V, Nef T,
Riener R. Estimating the patients contribution
during robot-assisted therapy. J Rehabil Res Dev.
201350(3)37994.http//dx.doi.org/10.1682/JRRD.
2011.09.0172