{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T09:45:58Z","timestamp":1775295958310,"version":"3.50.1"},"reference-count":20,"publisher":"Walter de Gruyter GmbH","issue":"12","funder":[{"DOI":"10.13039\/501100003006","name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","doi-asserted-by":"publisher","award":["0-20075-15"],"award-info":[{"award-number":["0-20075-15"]}],"id":[{"id":"10.13039\/501100003006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018,12,19]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Undesired forces during human-robot interaction limit training effectiveness with rehabilitation robots. Thus, avoiding such undesired forces by improved mechanics, sensorics, kinematics, and controllers are the way to increase exoskeleton transparency.<\/jats:p>\n                  <jats:p>In this paper, the arm therapy exoskeleton ARMin IV+ was used to compare the differences in transparency offered by using the previous feed-forward model-based controller, with a disturbance observer in a study. Systematic analysis of velocity-dependent effects of controller transparency in single- and multi-joint scenarios performed in this study highlight the advantage of using disturbance observers for obtaining consistent transparency behavior at different velocities in single-joint and multi-joint movements. As the main result, the concept of the disturbance observer sets a new benchmark for ARMin transparency.<\/jats:p>","DOI":"10.1515\/auto-2018-0069","type":"journal-article","created":{"date-parts":[[2018,12,4]],"date-time":"2018-12-04T08:57:07Z","timestamp":1543913827000},"page":"1014-1026","source":"Crossref","is-referenced-by-count":43,"title":["Exoskeleton transparency: feed-forward compensation vs. disturbance observer"],"prefix":"10.1515","volume":"66","author":[{"given":"Fabian","family":"Just","sequence":"first","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"}]},{"given":"\u00d6zhan","family":"\u00d6zen","sequence":"additional","affiliation":[{"name":"ARTORG Center for Biomedical Engineering Research, Gerontechnology & Rehabilitation , University of Bern , Bern , Switzerland"}]},{"given":"Philipp","family":"B\u00f6sch","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"}]},{"given":"Hanna","family":"Bobrovsky","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"}]},{"given":"Verena","family":"Klamroth-Marganska","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"}]},{"given":"Robert","family":"Riener","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"}]},{"given":"Georg","family":"Rauter","sequence":"additional","affiliation":[{"name":"Sensory-Motor Systems Lab , 27219 ETH Zurich and Spinal Cord Injury Center , University Hospital Balgrist , Zurich , Switzerland"},{"name":"BIROMED-Lab , DBE , University of Basel , Basel , Switzerland"}]}],"member":"374","published-online":{"date-parts":[[2018,11,29]]},"reference":[{"key":"2023033120151303315_j_auto-2018-0069_ref_001_w2aab3b7b7b1b6b1ab1b6b1Aa","doi-asserted-by":"crossref","unstructured":"V. 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