Figure 3.

Tracking detail. The left panel shows the reference movement (blue line) and a participant’s movement when unassisted (dashed green line), assisted for trial 1 (black line with circles) and trial 6 (red line with asterisks) of a set of button pressing tasks at 80% of reach for the shoulder (top panel), elbow (middle panel) and wrist (bottom panel). Note that the movement produced in trial 6 is shorter than trial 1 (i.e. participant completes the task more quickly) and more closely resembles the ideal reference movement. Note also that the reference movement is completed when the movement plateaus but the end position is held until 20 seconds elapses. The right panel shows the stimulation applied on trial 1 (black line with circles) and trial 6 (red line with asterisks). Note that the ILC stimulation applied on trial 6 has adjusted to meet the participant’s needs over the 6 trials. This is achieved by the ILC component of the control system.