Table 1.
Abbreviations and description of robotic task parameters for three robotic tasks: visually guided reaching task, arm position matching task and ball drop object hit task
| Robotic Task | Parameters | Abbreviation | Brief Description |
|---|---|---|---|
| Visually Guided Reaching | Reaction Time | RA1* | Time between illumination of the peripheral target and onset of movement |
| First Movement Max. Speed | RA2 | Maximum hand speed during the participant’s initial movement | |
| First Movement Distance | RA3 | Distance the hand traveled during the participant’s initial movement | |
| First Movement Direction Error | RA4 | Angular deviation between (a) a straight line from the hand position at movement onset to the peripheral target and (b) a vector from the hand position at movement onset to the hand position after the initial phase of movement | |
| Total Movement Time | RA5 | Total time elapsed from movement onset to offset | |
| Path Length | RA6 | Total distance traveled by the hand between movement onset and offset | |
| Path Length Ratio | RA7 | Total distance traveled by the hand between movement onset and offset divided by the straight line distance. | |
| Movement Time Maximum Speed | RA8 | Maximum speed that the hand traveled during the entire reaching movement. | |
| Number of Movement Peaks | RA9 | Number of hand speed maxima between movement onset and offset | |
| Min. Max. Speed Difference | RA10 | Differences between local speed peaks and minima | |
| First Movement Maximum Speed Ratio | RA11 | Ratio of (a) the maximum hand speed during the participant’s initial movement to (b) the global hand speed maximum of the trial | |
| First Movement Distance Ratio | RA12 | Ratio of (a) the distance the hand traveled during the participant’s initial movement to (b) the distance the hand traveled between movement onset and offset | |
| Posture Speed | RA13 | Mean hand speed for 500 ms before peripheral target illumination | |
| Arm Position Matching | Variability X (m) | M1 | Mean of standard deviation of the active hand’s position over all target locations in the x direction |
| Variability Y (m) | M2 | Mean of standard deviation of the active hand’s position over all target locations in the y direction | |
| Variability XY (m) | M3 | Mean of standard deviation of the active hand’s position over all target locations in the xy direction | |
| Contraction/expansion ratio X | M4 | Range/area of the workspace matched by the active hand relative to that of the passive hand in the x direction. | |
| Contraction/expansion ratio Y | M5 | Range/area of the workspace matched by the active hand relative to that of the passive hand in the y direction. | |
| Contraction/expansion ratio XY | M6 | Range/area of the workspace matched by the active hand relative to that of the passive hand in the xy direction. | |
| Shift X (m) | M7 | Mean of the mean error between the active and passive hands for each target location over all targets in the x direction. | |
| Shift Y (m) | M8 | Mean of the mean error between the active and passive hands for each target location over all targets in the y direction. | |
| Shift XY (m) | M9 | Mean of the mean error between the active and passive hands for each target location over all targets in the xy direction. | |
| Object Hit | Total hits | OH1 | Number of balls that are hit and leave the display area of the subject’s workspace |
| Hits with Affected Arm | OH2 | Number of balls that are hit with the affected arm of stroke participants | |
| Hits with Unaffected Arm | OH3 | Number of balls that are hit with the unaffected arm of stroke participants | |
| Hand bias of hits | OH4 | Normalized difference between the total number of hits with right and left hands | |
| Miss bias | OH5 | Quantifies whether there was a spatial bias in position of balls missed in workspace | |
| Hand transition | OH6 | Line in the workspace where the participant’s preference switches from one hand to the other | |
| Hand selection overlap | OH7 | Quantifies whether both hands share the workspace | |
| Median error | OH8 | Point in the task where the participant missed half of the balls that they missed in the entire task as a percentage of the total number of balls | |
| Hand speed – Affected Arm | OH9 | Average hand speed during the task for the affected arm of subjects with stroke | |
| Hand speed – Unaffected Arm | OH10 | Average hand speed during the task for the unaffected arm of subjects with stroke | |
| Hand speed bias | OH11 | Normalized difference between mean hand speeds of the left and right hands | |
| Movement area – Affected Arm | OH12 | Area of space used by the affected arm of subjects with stroke during the task | |
| Movement area – Unaffected Arm | OH13 | Area of space used by the unaffected arm of subjects with stroke during the task | |
| Movement area bias | OH14 | Quantifies differences in the size of the workspace used by each hand |
*RA followed by a number is used for abbreviation of visually guided reaching task parameter on the affected arm. RU and RI followed by a number will be used for the same parameter measured on the unaffected side and the inter-limb difference, respectively