Figure 2.

Real-time control framework: The High level controller (red) estimates physiologically accurate torque profiles equal to the torque generated by the muscles acting on the elbow joint (τ_r). This is then tracked by an admittance controller comprised of an outer torque loop (light gray) and an inner velocity loop (dark gray). The estimated torque is compared to the torque (τ_i) delivered by the exosuit to the human joint. The error torque (e_r) is then converted to a motor velocity, delivering assistive power to the user through bowden cable.