Research Article
A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation
Figure 14
Antidisturbance control under posture maintenance results: human operator cocontracts his arm according to visual feedback from robot arm joint displaced until the disturbance disappears. The test replicates 3 times with approximately 5 seconds of rest intervals from both human subjects.