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brokawf10

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brokawf10

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  1. Figure 10. Contrast between time-independent functional training (TIFT) and Dus-chau-Wicke methods for trajectory advancement. Current point on tra-jectory is A. Points B and C are two possible movements in joint space. Gray and dotted arrows point to resulting advancement points on trajec-tory for two methods. Because current point on trajectory determines location of haptic walls, energy injection into limb is possible in Dus-chau-Wicke method, while TIFT mode is passive. Note that for point C, Duschau-Wicke method allows advancement along trajectory even when shoulder is rotating in wrong direction. Since TIFT method does not allow moving backward in trajectory, movement to point C does not change current point on trajectory. TIFT mode only allows progression for movements to right and above thin black lines. Brokaw EB, Murray T, Nef T, Lum PS. Retraining of interjoint arm coordination after stroke using robot-assisted time-independent functional training. J Rehabil Res Dev. 2011;48(4):299-316.DOI:10.1682/JRRD.2010.04.0064

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