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Impedance Quantification

The study focuses on characterizing variable impedance of the human arm during free movement and manipulation tasks. A planar parallel mechanism (PPM) with Variable Stiffness Actuators (VSAs) is developed for impedance estimation via perturbation method. The study will use Lagrange equations to create mathematical models for constrained multibody systems, incorporating the mechanics of the human arm and exoskeleton dynamics.

Planar Parallel Robot

Planar Parallel Robot

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Planar Parallel Robot

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