Research Article
A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation
Figure 1
Profile of arm control model and stiffness transfer from human to robot for antidisturbance test [34]: , , are planned position, velocity, and acceleration, respectively. is feed-forward force. is feedback force. is the external force. , , are output position, velocity, and acceleration, respectively.