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Figure 1 | Journal of NeuroEngineering and Rehabilitation

Figure 1

From: The impact of the stimulation frequency on closed-loop control with electrotactile feedback

Figure 1

Setup for the real-time simulation of the closed-loop control. The signal r(t) is the reference trajectory, y(t) is the generated trajectory, e(t) is the tracking error, i.e., the difference between r(t) and y(t). The error was transmitted either visually (VF) or via electrotactile stimulation (ELCUS). The task for the subject was to operate the system so that the tracking error was diminished (i.e., the so-called compensatory tracking task). The electrotactile display on the forearm comprised two concentric electrodes. Minus and plus denote the cathode and anode, respectively. The sign of the error was coded by the active electrode, i.e., the dorsal channel (ch) was active for the positive and the volar channel for the negative tracking errors (spatial coding), and the pulse width was proportional to the error magnitude (intensity coding).

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