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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. 2.

Fig. 2

Block diagram of linear MIMO structures using vector and matrix notation: T(s) is the transfer function matrix from the commanded force perturbations, FΔ, to the interaction forces, F; C(s) is the transfer function matrix from the interaction forces to the displacements, d.