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. 2011 Apr 23;8:21. doi: 10.1186/1743-0003-8-21

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Copyright ©2011 Secoli et al; licensee BioMed Central Ltd.

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Robot force in Z dimension between the experimental group and the control group (non-impaired arm of stroke and healthy participants). Change of robotic assistance force in the z (vertical) direction for stroke participants using their paretic arm ("Stroke-P"), stroke participants using their non-paretic arm ("Stroke-N"), and control participants without stroke ("Control"). Task A: Baseline tracking without distractor or sound feedback. Task B: with visual distractor. Task C: with visual distractor and sound feedback. Task D: with sound feedback and no distractor. (* = significant difference in the change of robotic assistance compare to zero assistance: in particular Task B -Task A has p = 0.0004, the Task C -Task B has p = 0.0085 and the Task A - Task D has p = 0.0023).