Fig. 4.

Different stages of a user completing an AR-PHAM rehabilitation task. a The AR-PHAM is anchored in the user’s physical environment and prompts the user to begin a task by pressing the central red button. b Once started, the task spawns a red cylinder on the AR-PHAM frame and prompts a target location and orientation by highlighting an AR-PHAM object holder red. c The user then reaches for and manipulates the cylinder using the virtual prosthesis, controlling the device via their EMG signals and the LDA classifier. d The user transports the cylinder to the target location and releases it onto the object holder with the appropriate orientation