“…Accordingly, the signal can be used to display the contraction of muscle group when the user manipulates the ASTM [16]. A PMSM (Permanent Magnet Synchronous Motor) drive controlling system based on the microcontroller is also developed in this paper to generate a torque to oppose the user force [17,18]. The hardware circuits of the PMSM drive, such as AC/DC rectifier, DC link, DC/AC inverter, EMG sensors, physiological amplifier, high-pass filter, lowpass filter, Hall-effect position sensors, and speed encoder, are well designed, simulated, and implemented.…”