Figure 6.

Results of the variation of the exoskeleton interaction forces. (a) Box plots of the exoskeleton interaction forces of all the subjects in every condition. (b) Evolution of interaction force of the index finger by epochs of 200 ms. (c) Evolution of interaction force of the middle finger by epochs of 200 ms. (d) Evolution of interaction force of the ring and pinky fingers by epochs of 200 ms. Shaded areas contains all the mean values of all participants. Asterisk indicates a significant difference from the reference of the force interaction in that epoch. In all graphs, positive values indicate a force that tries to open the finger modules of the hand exoskeleton. Negative values indicate a force that tries to close the finger modules of the hand exoskeleton.