Table 1.
Basic data of eleven subjects after stroke.
Fig 1.
Experimental setup and conditions.
(a) a schematic drawing of the experimental setup and the control system. (b) Diagrammatic representations of the range of the elbow angle during the experimental: shaded area illustrated that the range of the elbow flexion and extension was 30 degree to 90 degree, while the straight arm was at 0 degree. (c) The interactive interface of the tracking tasks: both the tracking target (the blue slider) and the actual elbow angle (the red slider) moved horizontally.
Fig 2.
The actual elbow and the target angles in four groups at different speeds.
The angles at (A) V1 = 15.7deg/s, (B) V3 = 47.1deg/s and (C) V6 = 94.2deg/s for the affected side and unaffected side of a patient after stroke, an age-matched control and a young control.
Fig 3.
The RMSE in four groups at 6 tracking speeds.
RMSE refers to the Root mean squre error.
Fig 4.
The NIJ in four groups at 6 tracking speeds.
NIJ refers to the Normalized integrated jerk.
Fig 5.
The power spectrum of the normalized speed of four groups at different speeds.
The power spectrum of the normalized speed across 6 tracking speeds (V1-V6) for (A) affected side of a patient after stroke, (B) unaffected side of a patient after stroke, (C) an old control and (D) a young control; the yellow bars highlight frequency range of intermittent movements (0.8–1.8 Hz).
Fig 6.
The IPNS in four groups at 6 tracking speeds.
IPNS refers to Integral of the power spectrum of the normalized speed.