Figure 8.

Tests of the arm NMES on subject ND004. Subject ND004 movement phases, stimulation and breaks activation. A complete drinking task is reported. Panels (a-c) report pictures of the subject in the initial position, at the mouth and back to rest position, respectively. In panel d) the angles are reported in solid lines, target angles for each phase of the task are as shadows of the same color of the correspondent angle. In panel e) the levels of stimulation are reported as percentage of the maximal stimulation intensity as set during the identification of the parameters on the subject. Panel f) reports the activation of the brakes; the indicated sentences indicate the ongoing sub-actions.