A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation

Figure 10

Robot arm antidisturbance test I for posture maintenance (the dash yellow line) control: robot arm imitates human arm stiffness adaptive features in perturbation environment. Human arm will get cocontracted to compensate the external disturbance and this feature is transferred to robot arm by extraction of stiffness variations from sEMG signals.