20.500.12556/RUL-171059 Movement and force dynamics in bimanual cooperative tasks in chronic stroke and healthy individuals Stroke rehabilitation often involves the use of haptic robots to improve motor control and bimanual coordination. This study examines how damping affects movement and force dynamics in bimanual tasks performed by healthy participants and participants with chronic stroke using a haptic robotic system equipped with force sensors for each hand. Participants completed tasks at three damping levels: 0$\frac{N}{m/s}$ (no damping), 20$\frac{N}{m/s}$ (low damping), and 40$\frac{N}{m/s}$ (moderate damping). Key parameters for trajectory of movement, velocity, manipulation force, and internal force were analyzed to assess movement stability and control. The results revealed that damping 20$\frac{N}{m/s}$ effectively stabilized movements in persons with stroke, reducing velocity deviations and making their performance more comparable to healthy participants, without introducing excessive resistance. In contrast, damping 40$\frac{N}{m/s}$ acted as resistance training. Participants with stroke exhibited consistently higher internal forces than healthy participants, reflecting compensatory strategies and inefficient motor control. These findings demonstrate that low damping (20$\frac{N}{m/s}$) offers an optimal balance between movement stabilization and resistance, highlighting its potential as a rehabilitation strategy, while moderate damping (40$\frac{N}{m/s}$) may be reserved for resistance training. bimanual coordination haptic robot movement dynamics cooperative movements dvoročna koordinacija haptični robot dinamika gibanja sodelujoče gibanje true false true Angleški jezik Slovenski jezik Članek v reviji 2025-07-30 13:08:13 2025-07-30 13:08:17 2026-07-03 14:11:26 0000-00-00 00:00:00 2025 0 0 Str. 476-484 iss. 3 Vol. 45 Jul./Sep. 2025 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 007.52 0208-5216 10.1016/j.bbe.2025.07.002 244313091 1-s2.0-S0208521625000543-main.pdf 1-s2.0-S0208521625000543-main.pdf 1 9E29A0A6AD43DE995B347339E6EEEA0C 6698593389fa6a7af457d538077035e8f3be7e988942a12183fa3eeeb1faebfc c54b26a2-6d35-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=213788 https://www.sciencedirect.com/science/article/pii/S0208521625000543 1 73aa1cc2-6d35-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=213787 Fakulteta za elektrotehniko 0 0 0