Figure 4.

Comparison of typical training trajectories from one stroke patient obtained with conventional end-point tunnel control (EPTT) and time independent functional training (TIFT) (Brokaw et al., 2013). In TIFT, subjects’ trajectories tend to be close to the ideal desired path. Illustrations of the principle of the movement constraints are shown within each figure (EPTT imposes constraints at the cartesien end-effector level while TIFT imposes them at the joint level).