PMC4441124_01
SA initiating the proprioceptive loop. Based on "SA of forward walking" (1), an efferent active neural signal of the intended motion is released (2). The robotic device (in this example a lower-limb exoskeleton robot) detects the signal and supports the execution of leg movement (3) so that an afferent signal of consequential sensation goes back to the brain and signals that a motion has been executed successfully despite of the impairment (4). The closed proprioceptive loop of physical interaction (5) is supposed to enhance neurorehabilitation of the brain. Contrary to locating SA in the brain, conscious acts are regarded here as acts of the entire agent comprising the central nervous system as well as the actuators.
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F1
Figure 1 and Section 2.2),
Patient wearing HAL in a walking device (front view).
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F2
Figures 2, 3). Figure 1 and Section 2.2),
Patient wearing HAL in a walking device (side view).
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F3
Figures 2, 3).