Figure 2.

Study protocol.

The protocol consisted of two consecutive days. D1 started with a series of TEST at free speed and with three imposed speeds (4, 8, and 12 cm/s). Then, the subjects trained for 15 minutes with the active-assisted mode or active mode, according to the randomization. After a short pause, training was followed by another, identical, series of TEST. D2 was identical to D1. Before starting TEST 1 and after finishing TEST 4, unimanual hand dexterity was evaluated using the Box & Blocks test (B&B), only in stroke subjects.