{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T17:21:33Z","timestamp":1767979293827,"version":"3.49.0"},"reference-count":41,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T00:00:00Z","timestamp":1602633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia - FCT Portugal","award":["UIDB\/04111\/2020"],"award-info":[{"award-number":["UIDB\/04111\/2020"]}]},{"name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico 387 (CNPq)","award":["315287\/2018-7 and 436982\/2018-8"],"award-info":[{"award-number":["315287\/2018-7 and 436982\/2018-8"]}]},{"name":"Fundan\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de 388 Santa Catarina (FAPESC)","award":["2019TR169"],"award-info":[{"award-number":["2019TR169"]}]},{"name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel 386 Superior, Brasil (CAPES)","award":["Code 001"],"award-info":[{"award-number":["Code 001"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Sciences"],"abstract":"<jats:p>Exoskeletons are wearable mobile robots that combine various technologies to enable limb movement with greater strength and endurance, being used in several application areas, such as industry and medicine. In this context, this paper presents the development of a hybrid control method for exoskeletons, combining admission and impedance control based on electromyographic input signals. A proof of concept of a robotic arm with two degrees of freedom, mimicking the functions of a human\u2019s upper limb, was built to evaluate the proposed control system. Through tests that measured the discrepancy between the angles of the human joint and the joint of the exoskeleton, it was possible to determine that the system remained within an acceptable error range. The average error is lower than 4.3%, and the robotic arm manages to mimic the movements of the upper limbs of a human in real-time.<\/jats:p>","DOI":"10.3390\/app10207146","type":"journal-article","created":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T08:59:22Z","timestamp":1602665962000},"page":"7146","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Hybrid Impedance-Admittance Control for Upper Limb Exoskeleton Using Electromyography"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2546-0014","authenticated-orcid":false,"given":"Lucas D. L.","family":"da Silva","sequence":"first","affiliation":[{"name":"LEDS\u2014Laboratory of Embedded and Distribution Systems, University of Vale do Itaja\u00ed, Rua Uruguai 458, C.P. 360, 88302-901 Itaja\u00ed, Brazil"}]},{"given":"Thiago F.","family":"Pereira","sequence":"additional","affiliation":[{"name":"LEDS\u2014Laboratory of Embedded and Distribution Systems, University of Vale do Itaja\u00ed, Rua Uruguai 458, C.P. 360, 88302-901 Itaja\u00ed, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0446-9271","authenticated-orcid":false,"given":"Valderi R. Q.","family":"Leithardt","sequence":"additional","affiliation":[{"name":"VALORIZA, Research Center for Endogenous Resources Valorization, Instituto Polit\u00e9cnico de Portalegre, 7300-555 Portalegre, Portugal"},{"name":"Departamento de Inform\u00e1tica, Universidade da Beira Interior, 6201-001 Covilh\u00e3, Portugal"},{"name":"COPELABS, Universidade Lus\u00f3fona de Humanidades e Tecnologias, 1749-024 Lisboa, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6806-9122","authenticated-orcid":false,"given":"Laio O.","family":"Seman","sequence":"additional","affiliation":[{"name":"LEDS\u2014Laboratory of Embedded and Distribution Systems, University of Vale do Itaja\u00ed, Rua Uruguai 458, C.P. 360, 88302-901 Itaja\u00ed, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3039-4410","authenticated-orcid":false,"given":"Cesar A.","family":"Zeferino","sequence":"additional","affiliation":[{"name":"LEDS\u2014Laboratory of Embedded and Distribution Systems, University of Vale do Itaja\u00ed, Rua Uruguai 458, C.P. 360, 88302-901 Itaja\u00ed, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kim, H.J., Noh, J., and Yang, W. 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