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. 2019 Aug 21;6:75. doi: 10.3389/frobt.2019.00075

Figure 2.

Figure 2

(A) Force membership functions: safe, notsafe states are highlighted. (B) Force derivative membership functions: noVariation, Variation states are highlighted. (C) Velocity membership functions: stop, slow, move, fast states are highlighted. Moreover, the safe and unsafe zones are highlighted. (D) Assistance level membership functions: none, medium, high states are highlighted.