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This paper presents three robotic structures and the software components aiming to emulate the human body motion. A neuroprosthesis is supposed to provide the control over the muscles of a disabled person during a rehabilitation process. The control method developed under Matlabreg&Simulinkreg implements the mathematical model of the human body, the modeled muscles being electrically stimulated and the resulted motion is shown by controlling a humanoid-like robotic structure. The main feature of the proposed humanoid-like robotic structures is to support the training, development, implementation and testing of user defined control algorithms for a neuroprosthesis.