Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/bmri/volume-2017/4185939/figures/4185939.fig.009a.svgz" name="4185939.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Horizontal exercise</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/bmri/volume-2017/4185939/figures/4185939.fig.009b.svgz" name="4185939.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Vertical exercise</td></tr></table>

<div>Recorded each mean of the RPTM and global speed (scaled results).</div>

BioMed Research International

fig9

Figure 9

Figure 9: Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism 