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A Human-in-the-Loop Comparison of Proportional Control and Adaptive Gravity Compensation in Elbow EMG-Driven Exoskeletons
Electromyography (EMG)-driven control enables wearable robots to assist users based on their neuromuscular activity. Upper-limb exoskeletons typically rely on proportional myoelectric control (PMC), which amplifies user effort but may compromise stability at high assistance levels. EMG-driven adapti
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