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In this paper, experimental implementation and comparative accuracy evaluation of five methods for estimation of human-robot interaction torques are presented. These methods vary from the simplest case of using solely commanded motor torques, to partial consideration of the robot dynamics, to advanced methods considering full robot dynamics such as inverse dynamics (ID) and nonlinear disturbance observer...
Simulation of human bipedal walking through muscle actuation presents an optimization problem with a substantial number of parameters. Calculation of the cost function for this optimization problem, which can be non-differentiable, necessitates significant computational power and resources. In addition, because of the redundant nature of the human musculoskeletal system, the problem is highly prone...
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