Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device

Table 3

Statistical results of the tracking responses of all tests.

Error type		x-axis position (mm)	y-axis position (mm)	x-axis velocity (mm/s)	y-axis velocity (mm/s)	Force (N)
RMSE
Mode
Passive mode	Test 1	4.0558	N\A	3.3779	N\A	N\A
	Test 2	N\A	3.7781	N\A	2.0551	N\A
	Test 3	1.8324	1.2391	N\A	N\A	N\A
Assistive mode	Test 4	N\A	N\A	N\A	N\A	1.0051
	Test 5	N\A	N\A	N\A	N\A	0.9012

RMSE: root-mean-square error; N\A: not available.