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The modeling of the human arm endpoint stiffness behavior is inspired by human motor control principles on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the synergistic effect of muscular activations, which contributes to a coordinated modification of the task stiffness in all Cartesian directions. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and cocontraction levels of the chosen muscles. Consequently, the real-time model is used for the remote control of a compliant robotic arm while executing a drilling task, a representative example of tool use in environments with constraints and dynamic uncertainties. The results of this study illustrate that the proposed model enables the master to execute the remote task by modulation of the directions of the major axes of the endpoint stiffness ellipsoid and its volume using natural arm configurations and the cocontraction of the involved muscles, respectively.<\/jats:p>","DOI":"10.1177\/0278364917744035","type":"journal-article","created":{"date-parts":[[2017,11,28]],"date-time":"2017-11-28T06:46:14Z","timestamp":1511851574000},"page":"155-167","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":73,"title":["Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation"],"prefix":"10.1177","volume":"37","author":[{"given":"Arash","family":"Ajoudani","sequence":"first","affiliation":[{"name":"Human\u2013Robot Interfaces and Physical Interaction (HRI2) Laboratory, Istituto Italiano di Tecnologia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cheng","family":"Fang","sequence":"additional","affiliation":[{"name":"Humanoids and Human-Centred Mechatronics Laboratory, Istituto Italiano di Tecnologia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nikos","family":"Tsagarakis","sequence":"additional","affiliation":[{"name":"Humanoids and Human-Centred Mechatronics Laboratory, Istituto Italiano di Tecnologia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[{"name":"Soft Robotics for Human Cooperation and Rehabilitation Laboratory, Istituto Italiano di Tecnologia, Italy"},{"name":"The Interdepartmental Research Center \u201cE. 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