Fig. 3From: Neuro-cognitive assessment of intentional control methods for a soft elbow exosuit using error-related potentialsSchematic of arm model with soft exosuit. The force due to the forearm and hand combined center of mass (\(F_{COM_{FH}}\)) and the force due to the mass of a held object (\(F_{object}\)) determine the required compensation torque. The perpendicular distance between the elbow joint to the center of mass \(COM_{FH}\) is denoted as \(l_c\). The shoulder angle and elbow angle are represented by \(\theta _s\) and \(\theta _e\) respectivelyBack to article page