Figure 12.

Results from the elbow flexion–extension movements performed by the subject while wearing the Harmony exoskeleton. Active movements refer to the subject performing the elbow flexion–extension while the robot follows in the gravity-compensation mode (accounting only for the robot’s own weight). Passive movements refer to the robot performing the movement while the subject follows passively. The elbow is fully extended at the beginning and end of each plot and fully flexed in the middle. The two foams—PU and blended EPDM—are shown in Figure 13.