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Figure 8 | BioMedical Engineering OnLine

Figure 8

From: An adaptive spinal-like controller: tunable biomimetic behavior for a robotic limb

Figure 8

Responses of the internal controller signals for motions in Figure 7 c. Plots are shown without perturbations (black lines), with pulse perturbations (red lines) and sustained perturbations (blue lines). The control signals are given for the (a) visually driven error signals (ece and ecs); and (b) efference copy feedback (efe and efs) . Data in (a) are recorded after the spatial error ratio adjustments, as shown in Figure  1. Observe that there are noticeable variations between the profiles of the short-latency and long-latency responses to the perturbations as described in [30]. In particular, we can see a dominant role of the shoulder ecs for long-latency responses, and a more prominent role of the shoulder efs for short-latency response. The sustained perturbation (S) time is shown as a dark grey bar, while the pulse perturbation (P) time is shown as a black bar.

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