Fig 1.
Experimental setup for overground physical human-robot interaction (pHRI) with OPHRIE guiding participants along one of three trajectories: straight (A-B-C) or turning (A-B-D-E-F, A-B-G-H-I).
Figure adapted from [5].
Table 1.
List of markers and their anatomical locations.
Fig 2.
Reflective marker placement used to capture arm kinematics during the experiment [22].
Fig 3.
Elbow and shoulder angle representation in ProCalc software.
Fig 4.
Illustration of the Turning Perturbation Equivalent (TPE).
TPE in straight trials is positioned at the same distance from the starting point as points E and H in turning trials, but without applying a perturbation.
Fig 5.
Example of shoulder and elbow angles during a straight trial. The perturbation window (160 frames, 800 ms) is shown in the red box and trial starting frame is marked with a vertical magenta line.
Figure adapted from [19].
Table 2.
Variation in elbow and shoulder angles attributed to participant differences.
Fig 6.
Scatter plots illustrating EAD and SAD values across individual participants.
Table 3.
Mixed-effects model results for elbow and shoulder angles.
Fig 7.
Violin plot comparing elbow angle in turning and straight trials and across the blocks, with the dot indicating the mean value.
Fig 8.
Violin plot comparing shoulder angle in turning and straight trials and across the blocks, with the dot indicating the mean value.
Table 4.
Significance level of condition in the linear mixed effects model affecting different kinematic metrics (before E/H vs before TPE, after E/H vs after TPE).
Fig 9.
Visual representation of comparing average arm angles between the perturbation-present and perturbation-absent scenarios.
Fig 10.
Visual representation of comparing the change in average arm angles between perturbation-present and perturbation-absent scenarios.
Table 5.
Mixed effects model results for changes in average elbow (EAdiff) and shoulder (SAdiff) angles.
Table 6.
Correlation between the and arm angles.
Fig 11.
Elbow angle signal, shoulder angle signal, and .