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

Table 1

Scheme for regulating RPTM.

Horizontal exercise	Planning points	360	→	260	→	210	→	262 (0.8v)	→	212 (0.8v)
	RPTM	0.45, −0.45]		0.4, −0.4]		0.35, −0.35]		0.35, −0.35]		0.3, −0.3]
Vertical exercise	Planning points	268	→	203	→	136	→	170 (0.8v)	→	156 (0.8v)
	RPTM	−5.37, −3.8]		−5.3, −3.9]		−5.2, −4.0]		−5.2, −4.0]		−5.1, −4.1]

Note: 0.8v represents that the global speed is 80% of the predefined speed.