Figure 4.

Training parameters as a function of the training duration. Training sessions are normalized to the total training time (0 percent start of training, 100 percent completion of training). Training duration refers to the actual total training time per session (excluding setup time and rest periods). Support levels are expressed as a percentage of the maximum stiffness that could be controlled by the LOPES (300 Nm/rad). BWS was only required in five of the 10 participants. The bars indicate the mean training parameters, averaged across participants, at the start of the training (0-10 percent) and at the end of the training period (90-100 percent). The error bars indicate the standard deviation.