Fig. 3.

Real and simulated trajectories: Joint space. In the first row the results for the joint angular excursions for a sub-acute representative patient. In particular, in the first and second columns inter-joint coordination between elbow and shoulder angles for the 8 directions of movements, only for movements from the center of the workspace to targets, for T ₀ (first column) and T ₁ (second column) for real (red lines) and simulated trajectories (grey lines). Angular plots show shoulder (third column) and elbow (fourth column) normalized distance between real and simulated trajectories for the 8 directions of movements for T ₀ (dark colors) and T ₁ (light colors). In the second row results for a representative chronic patient, same organization of sub-acute patient