Table 5.

Glossary of terms concerning input control signals of robots for rehabilitation

Term	Description
Dynamic signals	Signals related to the torque or force exerted by the subject on various joints of the device (exoskeleton-based device) or at its end effector (end-effector-based device).
Kinematic signals	Signals related to positions, orientations, velocities and accelerations of particular segments or joints of the device or of the limb.
Trigger signal	A signal initiating a specific action. In simple cases, a switch or a button triggers the signal. In more complex cases, a threshold value of some signal is specified to trigger the action (e.g. a sEMG value corresponding to a level of muscle contraction).