The subject is asked to follow the trajectories in the visual interface, while the robot disturbs the movement. We used a Motorized Ankle Foot Orthosis (MAFO) with zero-torque control together with a visual paradigm interface to exert controlled torque profiles to the ankle of the subject. This study focuses on the assessment of detailed metrics of force production and position control -healthy subjects- and their correlation with submaximal force production control learning during a new task consisting in maintaining the position for early rehabilitation after stroke. Recent projects highlight how motor learning and a high level of attention control can potentially improve submaximal force production during recovery after stroke. Advances in Intelligent Systems and Computing
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