Kinematic Parameters for Tracking Patient Progress during Upper Limb Robot-Assisted Rehabilitation: An Observational Study on Subacute Stroke Subjects

Table 1

Correspondence between the target position and the joint movements.

Target label	Target coordinates (m)	Elbow movement	Shoulder movement
A	(0.00, 0.14)	Extension	Internal rotation and flexion
B	(0.14, 0.00)	Flexion	Abduction
C	(0.00, -0.14)	Flexion	External rotation and extension
D	(-0.14, 0.00)	Extension	Adduction

Target coordinates are expressed as (, ), taking into account the reference system shown in Figure 2.