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| Term | Description | Standard of classification |
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| Maciejasz et al. [62] | “High-level” control strategy
(i) Assistive control
(ii) Challenge-based control
(iii) Haptic stimulation
(iv) Couching control | The function of control systems |
“Low-level” control strategy
(i) Admittance control
(ii) Impedance control |
|
| Gopura et al. [63] | Based on input information
(i) Human biological signal based control methods
(ii) Nonbiological signal-based control methods
(iii) Platform-independent control methods | The position of signals |
Based on output information
(i) Different controller architecture |
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| Anam et al. [64] | Model system
(i) Dynamic
(ii) Muscle | Control system architectures |
Physical parameters
(i) Position
(ii) Torque/force
(iii) Force interaction |
The hierarchy
(i) Task level
(ii) High level
(iii) Low level |
Usage
(i) Virtual reality
(ii) Teleoperation
(iii) Gait |
|
| Marchal-Crespo et al. [65] | Assistive controllers
(i) Impedance-based assistance
(ii) Counterbalancing assistance
(iii) EMG-based assistance
(iv) Performance-based adaption of task parameter | Type of human-machine interaction |
Challenge-based robotic therapy control algorithms
(i) Resistive strategies
(ii) Constraint-induced strategies
(iii) Error-amplification strategies |
Haptic simulation strategies
(i) Virtual reality |
Noncontacting coaches
(i) Noncontacting coaches |
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| Sicur et al. [66] | Passive
Active unassisted
Active assisted
Resistive | Training modes |
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| Proietti et al. [67] | Assistive mode
Passive control
Triggered passive control
Partially assistive control
Corrective mode
Tunneling
Coordination control
Resistive mode | Training modes |
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