In more functional tasks, he was also able to reach out to grasp an item. Figure 7 shows him reaching and retracting the arm. Elbow angle is shown with respect to shoulder angle.Horizontal and vertical lines indicate a single DOF moving,whereas areas with a slope are the points of coactivation. Although there is some independent movement, especially at the beginning and end of the movements, the coordination can be seen. It is noteworthy that the linear slope depicted in the plots indicate that the motors were operating at constant velocities during periods of these tasks. This subject had limited ability to control proportionately and, based on clinical practice, preferred the operating speeds of the motors to be capped and constant in order to improve accuracy and smoothness of movement. To achieve this, large gains were applied to the proportional DOF command signal, effectively saturating the associated voltage being sent to motors. Although the exact software settings were not recorded to verify the gains, an estimation of the actual elbow speeds during the testing (by calculating slope of these lines) was within approximately 10° per second of the manufacturer’s stated specifications. The shoulder joint used a digital input switch, so the shoulder velocity is expected to be constant