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. 2019 Nov 1;5:19. doi: 10.1186/s42234-019-0034-y

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© The Author(s) 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 2 — The feedforward-feedback control architecture included a feedforward block (f_i) which uses the desired force (F_desired) as an input to produce a computed current output. The output of the feedforward block is added to the feedback controller output and this sum is provided to the Alpha Omega Stimulator as the command input. The feedback controller is a proportional-integral (PI) type, providing current commands to the Alpha Omega stimulator