Figure 5.

Results from the robotic simulation of wrist and finger movements. (A–F) Probability of counting emulated movements. (top to bottom) Shows probabilities for the three hand sizes: small, medium, and large; and (right to left) Shows probabilities for the emulated exercise types: wrist flexion and extension, and finger flexion and extension. For each hand size and exercise type, absolute maximum angular speed of the movement was used to classify it as slow, medium, and fast movement. The probabilities were calculated as the number of hand counts over the number of movements. (G,H) Show the number of counts over the total expected counts using emulated data for (G) wrist flexion and extension, and (H) finger flexion and extension. Bottom plot (I) shows the progression of the emulated movements that increased in amplitude over time sweeping through a range of speeds each amplitude. The range of speeds changes for the different amplitudes due to limitations on the maximum angular acceleration of the motor.