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This research designed an estimation method of human joint torque by the kinetic human\u2013machine interaction between the operator\u2019s elbow joint torque and the output of exoskeleton. The human elbow joint torque estimation was obtained by back propagation (BP) neural network with physiological and physical input elements including shoulder posture, elbow joint-related muscles activation, elbow joint position, and angular velocity. An elbow-powered exoskeleton was developed to verify the validity of the human elbow joint torque estimation. The average correlation coefficients of estimated and measured three shoulder joint angles are 97.9%, 96.2%, and 98.1%, which show that estimated joint angles are consistent with the measured joint angle. The average root-mean-square error between estimated elbow joint torque and measured values is about 0.143[Formula: see text]N[Formula: see text]m. The experiment results proved that the proposed strategy had good performance in human joint torque estimation. <\/jats:p>","DOI":"10.1142\/s0219843619500397","type":"journal-article","created":{"date-parts":[[2019,11,28]],"date-time":"2019-11-28T03:01:45Z","timestamp":1574910105000},"page":"1950039","source":"Crossref","is-referenced-by-count":20,"title":["A Human Joint Torque Estimation Method for Elbow Exoskeleton Control"],"prefix":"10.1142","volume":"17","author":[{"given":"Xinwei","family":"Li","sequence":"first","affiliation":[{"name":"University of Shanghai for Science and Technology, Shanghai, China"},{"name":"Institute of Rehabilitation Engineering and Technology, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Su","family":"Liu","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology, Shanghai, China"},{"name":"Institute of Rehabilitation Engineering and Technology, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ying","family":"Chang","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology, Shanghai, China"},{"name":"Institute of Rehabilitation Engineering and Technology, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sujiao","family":"Li","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology, Shanghai, China"},{"name":"Institute of Rehabilitation Engineering and Technology, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanjie","family":"Fan","sequence":"additional","affiliation":[{"name":"Shanghai Electric Central Research Institute, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongliu","family":"Yu","sequence":"additional","affiliation":[{"name":"University of Shanghai for Science and Technology, Shanghai, China"},{"name":"Institute of Rehabilitation Engineering and Technology, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,3,11]]},"reference":[{"issue":"3","key":"S0219843619500397BIB002","first-page":"129","volume":"16","author":"Nasilowski K.","year":"2014","journal-title":"Acta Bioeng. 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