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In the context of therapeutic human-robot interaction, it is important to detect human contribution in interaction with robots, thus to auto-tune a robot to compensate or resist based on such input. A passive orthosis is used to evaluate interaction based on kinematic data and energy flow model to identify human-contributions during interaction experiments with healthy subject and stroke patient. The results identified presence of abnormal synergies between wrist and fingers, showed a skewness apparent in stroke patient performance which seemed to decrease over-time after the rehabilitation practice and indicated lack of fine control.
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