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Illustrative diagram for the mTPAD’s open-loop controller and the mTPAD system. maps the servo angle to the cable length for each motor. The pelvis position relative to the mTPAD frame is determined using forward kinematics [44]. The pelvis position and the goal wrench are input to the quadratic programmer used to optimize cable tensions. maps the cable tensions to the servo currents. A low-level PID controller is implemented on the servo currents at the motor level.
