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. 2016 Oct 11;11(10):e0164511. doi: 10.1371/journal.pone.0164511

Fig 1. Experimental setup and training protocol.

Fig 1

(A) The 3 degrees-of-freedom robot (WristBot) and the placement of the vibro-tactile actuators in the ipsilateral and contralateral configuration. The 4 vibro-tactile actuators were placed on the forearm to indicate right, left, up and down directions in order to correct movement trajectory. (B-C) Overall training protocol. All groups underwent proprioceptive and motor assessment which consisted of joint position sense testing and the wrist tracking task. Training executed by PT and PTVTF groups consisted of a center-out reaching task with haptic and vibro-tactile feedback.