An Orthopaedic Robotic-Assisted Rehabilitation Method of the Forearm in Virtual Reality Physiotherapy

Table 1

Design specification of the simulated tasks to perform during training exercises.

Exercise	Scenario	Upper arm posture	Movement	Joint motion	Virtual task
1	Bells	Adducted	Upward/downward	FE	Ring
2	Balls	Abducted	Lateral/medial	FE	Hit
3	Balloons	Adducted	Internal/external	PS	Burst