New paper published in Frontiers in Bioengineering and Biotechnology

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Verdel, D., Bastide, S., Vignais, N., Bruneau, O., & Berret, B. (2022). Human Weight Compensation With a Backdrivable Upper-Limb Exoskeleton: Identification and Control. In Frontiers in Bioengineering and Biotechnology (Vol. 9). [link]

Illustration of the approach to compensate the weight of the user’s arm considering joint misalignments