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. 2018 Feb 20;15:10. doi: 10.1186/s12984-018-0348-0

Fig. 5.

Fig. 5

Experimental exercises. a Healthy subjects performed an arm movement using a 7 DoF robot wearing an accelerometer placed onto the upper arm and special jacket with optoelectronic markers. b Post-stroke patients performed arm movements using the ‘PUPArm’ robot wearing an accelerometer placed onto the upper arm and a magneto-inertial device placed onto the shoulder