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. 2018 Nov 13;12:74. doi: 10.3389/fnbot.2018.00074

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Copyright © 2018 Buongiorno, Barsotti, Barone, Bevilacqua and Frisoli.

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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The myoelectric Control Scheme. Raw surface EMG signals are pre-processed to compute the muscle excitation e(t). The neuromusculoskeletal model is used to predict the reference torques (Equations 2–6). Through the admittance control the predicted torques are used to generate the reference joint angles of the assistive device. The local controller is based on a position PD controller with gravity compensation. The measured joint positions are fed back to the PD controller and to the torque predictor.