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. 2016 Jan 22;13:8. doi: 10.1186/s12984-016-0116-y

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© Tobler-Ammann et al. 2016

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 1 — VPIT setup and upper limb function parameters. T_ex[s]: execution time in seconds; N_dp: number of dropped pegs during transport. Kinematic parameters: E_traj[cm]go/return: trajectory error: Nzc[1/s]go/return: number of zero-crossings of the acceleration. Kinetic parameters: F_g[N]go/return: mean grasping force; F_cmean[N]: mean collision force