Research Article
A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation
Figure 11
Robot arm antidisturbance test II: Baxter Robot joint will follow a reference trajectory while a random disturbance imposes on Baxter Robot arm, and the human subject would strengthen his arm to reduce the external disturbance with the same stiffness transfer interface as antidisturbance test I.