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Estimating arm stiffness by EMG-data
Defining the Cartesian stiffness matrix of impedance-controlled robots is a quite heuristic task. Additionally, it's necessary to adapt this stiffness matrix to different desired movements and robot tasks. Each human being has been learning to control the limbs' stiffness since birth. As a result, the controlling of stiffness is on a very high level. For this reason, we want to learn the mechanisms taking place in the human arm and transfer this knowledge to our robot systems.
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