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Figure 7 | Journal of NeuroEngineering and Rehabilitation

Figure 7

From: Error mapping controller: a closed loop neuroprosthesis controlled by artificial neural networks

Figure 7

Capability to react to spasms. Comparison of the three controllers (EMC, PIDAW and NEUROPID) performed in terms of the RMSE during flexion extension lasting 100 s. X axis represents the events indicating spasms occurrence during the movement. 6 spasms were randomly added to the 100 s angular trajectories. Each spasm lasted 2 s and its amplitude was varied from 20% and 30% of the maximal total torque of the knee.

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