Fig. 4
From: EMG-driven control in lower limb prostheses: a topic-based systematic review
Computational Intrinsic Control (CIC) and Interactive extrinsic Control (IEC) approaches for lower limb prosthesis neuro-control. Comparison between CIC (on the left) and IEC (on the right) from motor task generation to EMG-driven control. A CICs chose the correct control among the states implemented in the control board based on the EMG signals generated during a rhythmic locomotion; B IECs instead transform EMG recorded patterns to a specific continue modulation of the prosthetic joint