Davide Piovesan1, *, Roberto Bortoletto2
CMES-Computer Modeling in Engineering & Sciences, Vol.123, No.1, pp. 23-47, 2020, DOI:10.32604/cmes.2020.09231
Abstract Exoskeletons are designed to control the forces exerted during the physical
coupling between the human and the machine. Since the human is an active system, the
control of an exoskeleton requires coordinated action between the machine and the load
so to obtain a reciprocal adaptation. Humans in the control loop can be modeled as active
mechanical loads whose stiffness is continuously changing. The direct measurement of
human stiffness is difficult to obtain in real-time, thus posing a significant limitation to
the design of wearable robotics controllers. Electromyographic (EMG) recordings can
provide an indirect estimation of human muscle force and stiffness,… More >
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