Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

Figure 16

Joint trajectory tracking error diagrams of grasping and releasing under FES, (a) shoulder joint for subject 1, (b) elbow joint for subject 1, (c) shoulder joint for subject 2, (d) elbow joint for subject 2, (e) shoulder joint for subject 3, and (f) elbow joint for subject 3.

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