Figure 2From: Evaluation of EMG, force and joystick as control interfaces for active arm supportsBlock Diagram of the position-tracking task. The subject visually perceived the target (w) and cursor (x) positions. In order to minimize the error (e) between them, the human generated a control signal (u), using one of the control interfaces, which was mapped to the velocity of the cursor and subsequently integrated to obtain the cursor position.Back to article page