Table 2 Summary of the experimental protocol
Blocks | High-level control scheme | Low-level controller | Error rate (%) |
|---|---|---|---|
1–3 | Unassisted | N/A | 0 |
4 | Gravity compensation | PID | 0 |
5–9 | Gravity compensation | PID | Random(0, 0, 30, 30, 30) |
10 | Myoprocessor | PID | 0 |
11–15 | Myoprocessor | PID | Random(0, 0, 30, 30, 30) |