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• W2897998082 endingPage "1218" @default.
• W2897998082 startingPage "1211" @default.
• W2897998082 abstract "The synchronization of output torque is an important issue during human-robot interaction. Since the human-robot synchronization may be affected by the delay between the human's voluntary torque and the robot's assistive torque when a torque sensor is applied to detect human intention, an electromyography (EMG)-based admittance controller (EAC) was proposed to improve human-robot synchronization compared with that achieved by the use of a torque-sensing-based admittance controller (TAC). Simulations and experiments were conducted to investigate the performance of the EAC and the TAC. The simulation results indicated that the delay between the human's voluntary torque and the exoskeleton robot's assistive torque significantly degraded the performance of the human-robot cooperation movement when the TAC was used. The experimental results indicated that the jerk value, interaction torque, and EMG level of the tibialis anterior obtained with the EAC were significantly smaller than those with the TAC. Compared with the TAC, the EAC has an advantage in improving human-robot cooperation movement because the EAC can reduce the delay between the human's voluntary torque and the exoskeleton robot's assistive torque." @default.
• W2897998082 created "2018-10-26" @default.
• W2897998082 creator A5006229285 @default.
• W2897998082 creator A5019369655 @default.
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• W2897998082 date "2019-02-01" @default.
• W2897998082 modified "2023-10-14" @default.
• W2897998082 title "Admittance Control Based on EMG-Driven Musculoskeletal Model Improves the Human–Robot Synchronization" @default.
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• W2897998082 doi "https://doi.org/10.1109/tii.2018.2875729" @default.
• W2897998082 hasPublicationYear "2019" @default.
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