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Robot-Assisted End-Effector-Based Stair Climbing for Cardiopulmonary Exercise Testing: Feasibility, Reliability, and Repeatability

Fig 3

Determination of the ventilatory anaerobic threshold (VAT) and the respiratory compensatory point (RCP).

Data represent a male subject, trial 1. (a) VAT is at the minimum point of V′_E/V′O₂ and RCP at the minimum of V′_E/V′CO₂, (b) VAT is at the minimum point of P_ETO₂ and RCP at the deflection point of P_ETCO₂, (c) VAT is at the deflection point of V′CO₂ vs. V′O₂ (‘V-slope method’), (d) RCP is at the deflection point of V′_E vs. V′CO₂.

doi: https://doi.org/10.1371/journal.pone.0148932.g003