Fig. 1
From: EMG-driven control in lower limb prostheses: a topic-based systematic review
(adapted from [124])
Hierarchical controller schematic representation. Comparison between a generalized control framework for microprocessor-controlled lower limb prostheses (right) and the human motor control (left). The figure displays the classic interactions between the Hierarchical Controller layers and user-device-environment. Controller level-specific tasks are listed in the figure