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. Author manuscript; available in PMC: 2010 Oct 1.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2009 Aug 7;17(5):512–520. doi: 10.1109/TNSRE.2009.2028830

Fig. 3.

Fig. 3

a. Visual presentation of the Cup Placing simulation. b. Percentage change in kinematic measures following arm training using the Haptic Master during the Cup Placing Simulation c. Depiction of a single subject training with and without haptic effects on Day one. Dashed line is training with no added damping or gravity assist. Thick line is training with damping and gravity assist. d. Same subject after eight days of training with haptic assistance, performing cup placing with no damping or gravity assist. Note the up and over trajectory comparable to a real world placing task.