Figure 6.

Stroke subject performance. (A) Finger MCP ROM and (B) mean torques and (C) thumb CMC ROM and (D) mean torques are shown for both the active-unassisted and active force-assisted conditions. The provided assistance increased finger active ROM by 43% and reduced finger extension torque by 22%. For the thumb, active ROM was increased by 24%, reducing thumb extension torque by 30%. For the thumb, the mean torque for Subject 4 and 5 were negative. This indicates that the assistance forces were too high and extended the thumb