PMC

(a) Subject balancing stick on fingertip. (b) Slider crank model of the arm used to estimate the equivalent mass of the cart for the pendulum–cart model. (c) Pendulum–cart model for stick balancing with equivalent mass.

Setup for analyzing the balancing error. The balancing error of the prototype was verified by connecting it with a robot arm equipped with a six DoF load sensor

Forces exerted by the arm support displayed in context of the user. Moreover, the figure shows the poses, in which balancing error of the arm support was determined

The kernel density of the entropy balancing weights of individual-level patients (IPD) in the sorafenib arm when balanced to the atezolizumab plus bevacizumab (AB) arm and the lenvatinib plus pembrolizumab (LP) arm. The deviation and dispersion of each line from the black vertical line demonstrate the unbalance of sorafenib IPD and the aggregate data of the corresponding comparator regimen before entropy balancing. The dissimilarity of the two lines of entropy balancing weights represents the unbalance between the aggregate data of the AB and LP arms.