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. 2018 Jul 27;15:69. doi: 10.1186/s12984-018-0412-9

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© The Author(s). 2018

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. 2 — Robot-based training program overview. First phase: sessions S1 to S8 for strength exercises where motor control was primary trained. Second phase: sessions S9 to S16 for power training where the assistance was progressively decreased with the patient’s progression. The improvements were assessed at three stages of analysis: before treatment begins, between both phases and at the end of the program (gray ellipses in the figure)