Exploring motor adaptation and skill learning in the lower limb with a haptic cycle ergometer

We have developed a robotic haptic cycle ergometer as a probe for coordination in the lower limb and a therapeutic intervention for central deficits such as stroke. Here we demonstrate motor adaptation and skill learning in leg movement through two haptic training tasks. The first shows motor adaptation to a virtual spring during foot reaching. The second demonstrates skill learning through a novel environment that reverses the normal relationship between torque and acceleration - a task only achievable in a robotically controlled system.