Table 3.

Design of the analysis

	EE kinematics	Joint kinematics	EMG activity	Muscle synergies	Spinal maps
Passive day 1 vs day 2 vs day 3	nMD, nPK	R joint, d joint	RMS EMG, MVC	-	-
Free movements vs passive day 1	nMD, Pace, nPK	R joint, d joint	RMS EMG	RMS SYN, weighting coefficients, R Map-SYN	R Map-EMG, d CoA
Passive day 1 vs assistive	-	R joint, d joint	RMS EMG	RMS SYN, weighting coefficients, R Map-SYN	R Map-EMG, d CoA
Passive day 3 vs assistive with EE control, passive day 1 vs assistive with joint control	d EE	R joint, d joint	RMS EMG	RMS SYN, weighting coefficients, R Map-SYN	R Map-EMG, d CoA

The metrics (bold) used to assess: the variability across sessions (passive modality day 1 vs day 2 vs day 3), ALEx transparency (free movements vs passive modality day 1), the execution of active and passive movements (passive modality day 1 vs assistive modality), and the control at the EE and at the joints (passive modality day 3 vs assistive modality with EE control and passive modality day 3 vs assistive modality with joint control)