... thetraining protocol: Baseline 1 (B1), Robot Training, Baseline 2 (B2),Subject Training, Wash-out. The phases in which the robotgenerates no forces (B1, B2, Wash-out) are indicated in white. ... the Robot Training phase f romthose occurring during the Subject Training phase, wedirectly compared (planned comparisons) Baseline 1 andBaseline 2 (effect of Robot Training), Baseline 2 andWash-out ... session4, for the two treatments taken together and separately for each training mode. As regards changes within onesession, to distinguish between the changes in perfor-mance occurring during the...