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The human arm performs a variety of skillful movements by adjusting dynamic characteristics of musculoskeletal system. Such characteristics of musculoskeletal system can be mainly described as viscoelasticity of human multi-joint arm. Many biomedical applications of robotics require knowledge of the viscoelasticity of human multi-joint arm in order to make motion appear more natural and accurately...
In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator...
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