SUMMARYOver the past decade, research on human–robot collaboration has grown exponentially, motivated by appealing applications to improve the daily life of patients/operators. A primary requirement in many applications is to implement highly “transparent” control laws to reduce the robot impact on human movement. This impact may be quantified through relevant motor control indices. In this paper, we show that control laws based on careful identification procedures improve transparency compared to classical closed-loop position control laws. A new performance index based on the ratio between electromyographic activity and limb acceleration is also introduced to assess the quality of human exoskeleton interaction.

中文翻译：

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一种提高机器人上肢外骨骼透明度的基于识别的方法

总结在过去的十年中，人机协作的研究呈指数级增长，其动机是通过吸引人的应用程序来改善患者/操作员的日常生活。许多应用中的一个主要要求是实施高度“透明”的控制法则，以减少机器人对人类运动的影响。这种影响可以通过相关的运动控制指数来量化。在本文中，我们展示了与经典闭环位置控制律相比，基于仔细识别程序的控制律提高了透明度。还引入了基于肌电活动与肢体加速度之间比率的新性能指标，以评估人体外骨骼交互的质量。