# A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks
## 3 Results  
After performing the experimental tests with the healthy subjects, a supplementary dry run was made in order to establish the torques in the system when it is moving without any patient performing the rehabilitation. Figure 15 graphically represents the data recorded during the experimental test, which are then statistically analyzed. Median values from all runs were extracted and graphically represented using MatLab [45]. The first column of plots from Figure 15 represents the dry run test performed at the end of the experimental tests. These results should be similar to the ones obtained during the virtual simulation performed in the previous section of the paper and, as it can be seen, there are inconsistent differences between the results of the virtual simulation and the  
Figure 14: Amplitudes recorded using Biometrics sensor system for a pronation/supination rehabilitation session. Figure 13: Goniometer used for measuring the pronation supination (**a**) Torsiometer used for measuring the pronation/supination of the forearm (**b**) Goniometer used for measuring adduction/abduction/flexion/extension for the shoulder; (**c**) the subject’s position during the in-lab experimental tests. ones obtained using the experimental model. Table 3 summarizes the comparison between these data. The second column of plots represents the median values obtained during the experimental test, when the subject was creating no extra forces in the system. The third column represents the median values obtained when the subject of the experiment was opposing the rehabilitation motion. As it can be observed, there are some differences in the pronation/supination module. The maximum absolute value obtained is 1.10 Nm for the dry run test, 1.62 Nm for normal run test, and 2.45 Nm for the resisting test. There are also a series of differences in the flexion/extension module but it is not easy to identify them on the graphical representation. The maximum value obtained during the dry run test was 122 Nm, 131.39 Nm during the normal run, and 147.37 Nm during the resisting tests. Regarding the adduction/abduction module the maximum obtained value is 9.20 Nm for the dry run test, 10.47 Nm for the normal run, and 14.40 Nm for the resisting test. The values that resulted from the torque analysis are quite similar. There are some differences between different running modes but torque variation between different functioning modes is quite visible. The values obtained during the virtual simulation are just  
Figure 15: Graphical representation of the experimental tests’ results. \begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multicolumn{2}{c}{**Rehabilitation**} & \multicolumn{8}{c}{**Maxim Torque Recorded (Nm)**} \\ \multicolumn{2}{c}{**Motion**} & \multicolumn{8}{c}{**SD**} & Dry run & SD & Normal run & SD & Resisting test & SD \\ \hline \hline Pronation/Supination & 1.91 & 0.6985 & 1.10 & 0.0759 & 1.62 & 0.0850 & 2.45 & 0.1227 \\ \hline Flexion/Extension & 127.2 & 1.1354 & 122 & 1.2097 & 131.39 & 1.2378 & 147.37 & 1.3663 \\ \hline Adduction/Abduction & 5.04 & 0.0495 & 9.20 & 0.0490 & 10.47 & 0.0463 & 14.40 & 0.0591 \\ \hline \multicolumn{2}{c}{**Percental difference between different running modes (between max values)**} & \multicolumn{1}{c}{} & \multicolumn{1}{c}{} & \multicolumn{1}{c}{} & \multicolumn{1}{c}{} & \multicolumn{1}{c}{} & \\ \hline Pronation/Supination & \(-\)43\% & \(+\)47\% & \(+\)51\% & \(+\)12\% & \(+\)12\% & \(+\)12\% & \(+\)13\% & \(+\)13\% \\ \hline Adduction/Abduction & \(+\)82\% & \(+\)13\% & \(+\)37\% & \(+\)13\% & \(+\)13\% & \(+\)13\% & \(+\)13\% \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Torque analysis results. for checking the similarity of the constructive model with the experimental model. The differences between these two simulations are given by the imperfect homogeneity of the material, the manufacturing imperfections, the machining accuracy, the elasticity of material, and other material properties, but overall the values are correlated.