Fig. 2.

Average number of repetitions per session, divided into the 5 modes of interaction (A) and the different exercises performed (B). Separate prespecified protocols were followed by low- and medium-functioning patients. Each week, there were progressively more challenging movements, with an increase in the number of repetitions, a decrease in the amount of assistance from the robotic device, and incorporation of more complex movements. Init, initiated; S. Init, step initiated; F. Assist, follow assist; For., forward; Horz., horizontal; Abd. abduction.