{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T05:35:47Z","timestamp":1768628147760,"version":"3.49.0"},"reference-count":59,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2021,2,3]],"date-time":"2021-02-03T00:00:00Z","timestamp":1612310400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Over the past decade, research on human\u2013robot 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 \u201ctransparent\u201d 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.<\/jats:p>","DOI":"10.1017\/s0263574720001459","type":"journal-article","created":{"date-parts":[[2021,2,3]],"date-time":"2021-02-03T01:19:11Z","timestamp":1612315151000},"page":"1711-1728","source":"Crossref","is-referenced-by-count":30,"title":["An Identification-Based Method Improving the Transparency of a Robotic Upper Limb Exoskeleton"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7307-1086","authenticated-orcid":false,"given":"Dorian","family":"Verdel","sequence":"first","affiliation":[]},{"given":"Simon","family":"Bastide","sequence":"additional","affiliation":[]},{"given":"Nicolas","family":"Vignais","sequence":"additional","affiliation":[]},{"given":"Olivier","family":"Bruneau","sequence":"additional","affiliation":[]},{"given":"Bastien","family":"Berret","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,2,3]]},"reference":[{"key":"S0263574720001459_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2006.881565"},{"key":"S0263574720001459_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(02)00114-4"},{"key":"S0263574720001459_ref52","doi-asserted-by":"publisher","DOI":"10.1016\/0306-4522(82)90277-9"},{"key":"S0263574720001459_ref43","doi-asserted-by":"crossref","first-page":"176","DOI":"10.1016\/S0947-3580(98)70113-X","article-title":"Friction models and friction compensation","volume":"4","author":"G\u00e4fvert","year":"1998","journal-title":"Eur. J. Control"},{"key":"S0263574720001459_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2178151"},{"key":"S0263574720001459_ref45","first-page":"51","article-title":"Dynamic model identification for industrial robots","volume":"6","author":"Vuong","year":"2009","journal-title":"Acta Polytechnica Hungarica"},{"key":"S0263574720001459_ref7","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-11-80"},{"key":"S0263574720001459_ref22","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-09-02318.1985"},{"key":"S0263574720001459_ref44","unstructured":"44. Pham, M. T. , Gautier, M. and Poignet, P. , \u201cIdentification of Joint Stiffness with Bandpass Filtering,\u201d IEEE International Conference on Robotics and Automation (2001) pp. 2867\u20132872."},{"key":"S0263574720001459_ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.jelekin.2003.10.005"},{"key":"S0263574720001459_ref32","doi-asserted-by":"crossref","unstructured":"32. Hamon, P. , Gautier, M. and Garrec, P. , \u201cDynamic Identification of Robots with a Dry Friction Model Depending on Load and Velocity,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2010) pp. 6187\u20136193.","DOI":"10.1109\/IROS.2010.5649189"},{"key":"S0263574720001459_ref13","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-5"},{"key":"S0263574720001459_ref41","unstructured":"41. Gautier, M. , \u201cDynamic Identification of Robots with Power Model,\u201d Proceedings of the 1997 IEEE International Conference on Robotics and Automation (1997) pp. 1922\u20131927."},{"key":"S0263574720001459_ref2","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1108\/IR-08-2014-0379","article-title":"Robotic exoskeletons: A review of recent progress","volume":"42","author":"Bogue","year":"2015","journal-title":"Ind. Robot Int. J."},{"key":"S0263574720001459_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989210"},{"key":"S0263574720001459_ref24","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985"},{"key":"S0263574720001459_ref31","volume-title":"2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Carignan","year":"2009"},{"key":"S0263574720001459_ref58","unstructured":"58. Pohlert, T. , The Pairwise Multiple Comparison of Mean Ranks Package (PMCMR). R-Package (2016) pp. 14\u201319."},{"key":"S0263574720001459_ref34","unstructured":"34. Khalil, W. and Dombre, E. , Mod\u00e9lisation, identification et commande des robot (2003)."},{"key":"S0263574720001459_ref37","volume-title":"System Identification: Theory for the User","author":"Ljung","year":"1999"},{"key":"S0263574720001459_ref50","doi-asserted-by":"publisher","DOI":"10.1007\/BF00431022"},{"key":"S0263574720001459_ref54","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1990.63.3.465"},{"key":"S0263574720001459_ref19","doi-asserted-by":"crossref","unstructured":"19. Jarrass\u00e9, N. , Paik, J. , Pasqui, V. and Morel, G. , \u201cHow can Human Motion Prediction Increase Transparency?,\u201d IEEE International Conference on Robotics and Automation (2008) pp. 2134\u20132139.","DOI":"10.1109\/ROBOT.2008.4543522"},{"key":"S0263574720001459_ref26","first-page":"167","article-title":"\u201cScrew and Cable Acutators (SCS) and Their Applications to Force Feedback Teleoperation, Exoskeleton and Anthropomorphic Robotics","author":"Garrec","year":"2010","journal-title":"Robotics 2010 Current and Future Challenges"},{"key":"S0263574720001459_ref38","doi-asserted-by":"publisher","DOI":"10.1016\/S0890-6955(00)00023-7"},{"key":"S0263574720001459_ref5","doi-asserted-by":"crossref","unstructured":"5. Frisoli, A. , Borelli, L. , Montagner, A. , Marcheschi, S. , Procopio, C. , Salsedo, F. , Bergamasco, M. , Carboncini, M. C. , Tolaini, M. and Rossi, B. , \u201cArm Rehabilitation with a Robotic Exoskeleleton in Virtual Reality,\u201d IEEE 10th International Conference on Rehabilitation Robotics, 2007. ICORR 2007 (IEEE, 2007) pp. 631\u2013642.","DOI":"10.1109\/ICORR.2007.4428491"},{"key":"S0263574720001459_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/1545968316666957"},{"key":"S0263574720001459_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001568"},{"key":"S0263574720001459_ref59","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-018-28979-6"},{"key":"S0263574720001459_ref48","doi-asserted-by":"crossref","unstructured":"48. Liu, G. , \u201cOn Velocity Estimation Using Position Measurements,\u201d Proceedings of the American Control Conference (2002) pp. 1115\u20131120.","DOI":"10.1109\/ACC.2002.1023168"},{"key":"S0263574720001459_ref53","doi-asserted-by":"publisher","DOI":"10.1007\/BF00228984"},{"key":"S0263574720001459_ref55","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1002196"},{"key":"S0263574720001459_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.ergon.2014.03.008"},{"key":"S0263574720001459_ref12","doi-asserted-by":"crossref","unstructured":"12. Ercolini, G. , Trigili, E. , Baldoni Simona Crea, A. and Vitiello, N. , \u201cA novel generation of ergonomic upper-limb wearable robots: Design challenges and solutions,\u201d Robotica 37 (12,SI), 2056\u20132072 (2018).","DOI":"10.1017\/S0263574718001340"},{"key":"S0263574720001459_ref28","volume-title":"2019 Fifth International Conference on Advances in Biomedical Engineering (ICABME)","author":"Mallat","year":"2019"},{"key":"S0263574720001459_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/BF00236911"},{"key":"S0263574720001459_ref33","first-page":"36","article-title":"Bridging the gap between passivity and transparency","volume":"36","author":"Franken","year":"2009","journal-title":"Robot. Sci. Syst. V"},{"key":"S0263574720001459_ref46","first-page":"373","article-title":"World Medical Association Declaration of Helsinki. Ethical principles for medical research involving human subjects","volume":"79","year":"2001","journal-title":"Bull. World Health Organizat."},{"key":"S0263574720001459_ref27","doi-asserted-by":"crossref","unstructured":"27. Garrec, P. , Friconneau, J. P. , M\u00e9asson, Y. and Perrot, Y. , \u201cABLE, an Innovative Transparent Exoskeleton for the Upper-Limb,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2008) pp. 1483\u20131488.","DOI":"10.1109\/IROS.2008.4651012"},{"key":"S0263574720001459_ref51","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.1921-15.2016"},{"key":"S0263574720001459_ref23","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01029.2012"},{"key":"S0263574720001459_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2010.2056388"},{"key":"S0263574720001459_ref17","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-019-0495-y"},{"key":"S0263574720001459_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9677-2"},{"key":"S0263574720001459_ref39","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020406"},{"key":"S0263574720001459_ref42","unstructured":"42. Geffard, F. , Andriot, C. , Micaelli, A. and Morel, G. , \u201cOn the Use of a Base Force\/Torque Sensor in Teleoperation,\u201d IEEE International Conference on Robotics and Automation (2000) pp. 2677\u20132683."},{"key":"S0263574720001459_ref47","volume-title":"European recommendations for surface ElectroMyoGraphy: Results of the SENIAM project","author":"Hermens","year":"1999"},{"key":"S0263574720001459_ref56","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.14-05-03208.1994"},{"key":"S0263574720001459_ref21","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-016-0117-x"},{"key":"S0263574720001459_ref30","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0148942"},{"key":"S0263574720001459_ref9","doi-asserted-by":"crossref","unstructured":"9. Bastide, S. , Vignais, N. , Geffard, F. and Berret, B. , \u201cInteracting with a \u2018Transparent\u2019 Upper-Limb Exoskeleton: A Human Motor Control Approach,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2018) pp. 4661\u20134666.","DOI":"10.1109\/IROS.2018.8593991"},{"key":"S0263574720001459_ref3","doi-asserted-by":"publisher","DOI":"10.1080\/00140139.2015.1081988"},{"key":"S0263574720001459_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/70.105381"},{"key":"S0263574720001459_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000067"},{"key":"S0263574720001459_ref57","doi-asserted-by":"publisher","DOI":"10.1101\/728857"},{"key":"S0263574720001459_ref4","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-9-36"},{"key":"S0263574720001459_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2016.2552201"},{"key":"S0263574720001459_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000250"},{"key":"S0263574720001459_ref35","unstructured":"35. Moberg, S. , Modeling and Control of Flexible Manipulators Ph.D. Thesis (Linkping University, 2010)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720001459","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,8,6]],"date-time":"2021-08-06T07:27:07Z","timestamp":1628234827000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720001459\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,3]]},"references-count":59,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2021,9]]}},"alternative-id":["S0263574720001459"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720001459","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,2,3]]}}}