Fig. 3

An overview of the unilateral input mode for the control system. The process flow chart begins at the bulls-eye and follows the users input signal to initiate a forward or reverse motion. The forward command is initiated by a hard contraction of a short duration, while the reverse motion is a hard contraction of a long duration. From here the user can then initiate the stopping function, which is the same input as the forward command, or begin a turning motion while maintaining forward motion. A turning motion is chosen it can be stopped with an additional turning command and maintain a forward motion. Or for a complete stop, the aforementioned stop function will arrest all motion. Once the stopping motion has occurred the user can guide themselves through the process flow again. The user also can begin mid-flow with a simple left or right input command without moving in a forward or reverse motion