Towards Continuous Identification of Passive Human Joint Impedance Using Physical Human-Robot Interaction System
Bilal Tout,Jason Chevrie,Antoine Dequidt,Laurent Vermeiren,Bilal Tout,Jason Chevrie,Antoine Dequidt,Laurent Vermeiren
The identification of human joint impedance is necessary for various applications, such as improving rehabilitation efficiency or monitoring the human operator's state (fatigue, stress). To this end, in this paper we combine robot's payload identification methods with sliding window recursive least squares algorithm allowing a continuous identification of the varying human joint model without the ...
