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. Author manuscript; available in PMC: 2009 Sep 26.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2007 Mar;15(1):94–103. doi: 10.1109/TNSRE.2007.891392

Fig. 1.

Fig. 1

Block diagram of linear MIMO impedance structure: CxFx (s) and CxFy (s) are the transfer functions from the interaction forces, Fx and Fy, to the displacement x: CxFx (s) and CxFy (s) are the transfer functions from the interaction forces to the displacement the displacement y.