Table 1.

Experimental Protocol

Experiment	# of Subjects	Protocol
Preliminary	10	100N-100I-100N, I peak was approximately 6% of subject's body weight
A: AAN	10	190N(9CTs)-100I-100N-200I+R(9CTs)-50N, I peak was 6% of subject's body weight
B: AAN with Noise Insensitivity	10	Experiment A with a 6σ based weighted error band
C: AAN with Improper Parameter Selection	4	Experiment A with fR = 0.90

AAN = Assist-as-Needed, CTs = Catch Trials, N = Null Field (no force field applied), I = Upwardly directed Impairment field, R = Downwardly directed compensating Robotic field