Fig. 2
The research setup. Subject S1 controlling the active arm support during the evaluation of one of the control interfaces. The task of the subject was to trace the 5 target paths with the pointer that was connected to the endpoint of the UR5 Robotic Arm. The UR5 Robotic Arm was used as an active arm support which could be controlled with sEMG- and force-based control interfaces with no compensation (FNC) and with stiffness compensation (FSC)