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а The corresponding stiffness matrix is: ?? ?? ?? ?? ?? ?? ?? ( ) ( ) ( ) ( ) ( ) m ee e m es e m se e m m ss s R R R R R ?? ?? ?? ?? ?? . Their quality of life benefited from that situation too. 2.5 Control architecture The WOTAS control architecture basically consists of 3 components: 1) the orthosis, with its structure, sensors and actuators 2) a control unit, responsible for executing the algorithms in real time to suppress the tremor and the acquisition card for the interface between the sensors, actuators and the controller 3) a remote computer, which in our case executes an application developed to do the interface between all the system and the doctor who is using it. The use of actuators in the platform can be also considered as a further development of the platform as tool both for functional assessment and rehabilitative treatment.
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