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

Figure 15

Antidisturbance control under path following results: Step I, robot moves smoothly following a sine wave; Step II, rest for motion in disturbance environment; Step III, robot replicates the path regulation as Step I; Step IV, rest when finishing path following; Step V, human subject does antidisturbance task when human subject exerts disturbance on the Baxter robot joint, which is used to follow a sinusoid reference trajectory.