Fig. 1.

Experimental setup and conditions. A: participants sat with their arm supported by a robotic exoskeleton. They produced forces with either the hand or arm to control the position of an on-screen cursor, attempting to navigate the cursor through a sequence of targets. Inset illustrates how participants interacted with the force transducer in the hand condition. B: illustration of the visual display and targets. C: illustration of the assessment and training schedule for each group of participants during the study.