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Assistance condition illustrations. (A) An example of the motor current needed to passively stretch a stroke subject's fingers, compared to gravity compensation. X-axis is the MCP extension angle relative to the fully flexed position. (B) Block diagram of the compensation provided for the active-unassisted and active-force assisted conditions. Stiction is provided when -0.1°/sec ≤ angular velocity ≤ +0. 1°/sec. Otherwise, kinetic friction compensation is provided.
