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. 2023 Jul 12;17:1168213. doi: 10.3389/fnbot.2023.1168213

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Copyright © 2023 Park, Di Natali, Sposito, Caldwell and Ortiz.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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(A) Controller block diagram. The MLC consists of three control units as follows: arm kinematics estimator, load estimator, and friction compensator (Fric.Com). The two estimators estimate the required assistive torque based on arm kinematics and an external load being carried in the hand. The friction compensator amplifies the kinematic torque τ_kin to compensate for the friction on the Bowden Cable. (B) Alignment of the accelerometer integrated within the MYO.