Fig. 12
From: A clinical pilot study on posture stabilization via light contact with cane-type companion robot
Maximum amplitude and harmonic ratios of the sacrum positions of each subject in x-axis. The left figure shows the maximum amplitudes of the subjects’ sacrum at the frequencies of the trials, and the right one shows their harmonic ratio in x-axis (lateral direction). The maximum amplitudes of no subject decreased. On the other hand, the harmonic ratios of all subjects increased