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Figure 1 | Journal of NeuroEngineering and Rehabilitation

Figure 1

From: Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

Figure 1

Control algorithms. Control algorithms. Impedance control (with its special case position control) is illustrated on the left side. Path control is illustrated on the right side: (1) control action to bring the patient's leg back to the inside of the virtual tunnel, (2) "flow" of supportive torques, (3) "moving window" around time-dependent reference.

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Journal of NeuroEngineering and Rehabilitation

ISSN: 1743-0003

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