Fig. 15From: A clinical pilot study on posture stabilization via light contact with cane-type companion robotMaximum amplitude and harmonic ratios of the postural angle projected on the sagittal plane of each subject. The left figure shows the maximum amplitudes of the postural angle projected on the sagittal plane at the frequencies of the trials, and the right figure shows the harmonic ratios of them. The maximum amplitudes of all subjects slightly decreased. On the other hand, the harmonic ratios of no subject increasedBack to article page