Figure 7
From: Error mapping controller: a closed loop neuroprosthesis controlled by artificial neural networks
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.