Figure 2

Experimental setup and tasks performed: (a) Workspace where the tasks were performed. “Pos 1–4” indicate the four colored targets and “Rest” the predefined rest position in which the trials started and ended. The three objects the participants had to interact with are also shown on top of the target shelves. (b) A model of the IS-MORE 7-DoF exoskeleton and the degrees of freedom on which it allows the movement: (1) and (2): translation of the forearm (2 DoFs); (3): rotation of the forearm (1 DoF); (4): wrist pronation-supination (1 DoF); (5): extension-flexion of the thumb (1 DoF), (6): the index (1 DoF) and (7): the group of middle-ring-pinky fingers (1 DoF). (c) Wrist and hand movements performed during the experiments.