Table 5.
Maximal frequency reached and average assistive torque
| MAXIMAL FREQUENCY REACHED | ||||||
|---|---|---|---|---|---|---|
| ID |
F [Hz] |
E [Hz] |
AD [Hz] |
AB [Hz] |
P [Hz] |
S [Hz] |
| S1 | 0.45 | 0.35 | 0.51 | 0.38 | 0.75 | 0.57 |
| S2 | 0.59 | 0.37 | 0.31 | 0.53 | 0.52 | 0.71 |
| S3 | 0.44 | 0.28 | 0.28 | 0.45 | 0.48 | 0.66 |
| AVERAGE ASSISTIVE TORQUE | ||||||
| ID | F [mNm] |
E [mNm] |
AD [mNm] |
AB [mNm] |
P [mNm] |
S [mNm] |
| S1 | 12 | 11 | 9 | 16 | 15 | 27 |
| S2 | 12 | 12 | 8 | 6 | 26 | 19 |
| S3 | 15 | 32 | 15 | 16 | 32 | 20 |
Maximum value of frequency oscillation reached by the subjects for each type of exercised Dof direction during robot training. Average assistive torque required by each subject for the extreme values of each type of motion (e.g. maximum Flexion, etc.). Bold numbers cells indicate more impaired movements.