Fig. 5
Setting for training with the robot. A wire (a) connecting the device to the forearm cuff adjusts the amount of arm-weight support. The patient repeats a reaching movement from the start button (b) to the target button (c), accompanied with the arm-weight support, electrical stimulation (d), and vibratory stimulation (e). Two video cameras (f) on the upper frame of the device record the reaching movement for kinematic analysis