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

Figure 12

sEMG-force correlation results: raw force signals are processed by low pass filter with 15 Hz cutoff frequency. sEMG signals are filtered and smoothed with enveloping using two methods designed in Section 2.

(a) Force estimation using AM-FM

(b) Force estimation using fast enveloping

(c) Linear correlation between sEMG envelop and force according to (a)

(d) Linear correlation between sEMG envelop and force according to (b)