Figure 1

Steps to follow to build and use a mirror myoelectric decoder: (1) Calibration session: EMG and kinematic data are recorded from the healthy upper limb during different functional movements with the exoskeleton. (2) The recorded data is used to calibrate a mirror EMG decoder (i.e. build a healthy EMG-kinematics mirror model). (3) The EMG activity recorded from the paretic limb during the real-time phase is fed to the mirror decoder. The latter is able to map the input EMG signal into the corresponding kinematics based on the mirror myoelectric model of healthy activity. The estimated kinematics are sent as control commands to the exoskeleton, which drives the movement of the paretic upper limb of the patient, providing him/her with visual and proprioceptive feedback.