The muscle activation method: an approach to impedance control of brain-machine interfaces through a musculoskeletal model of the arm
Kim, H.K., Carmena, J.M., Biggs, S.J., Hanson, T.L., Nicolelis M.A. and Srinivasan, M.A. (2006)
IEEE Trans Biomed Eng 54(8):1520-1529. DOI: 10.1109/TBME.2007.900818