From: Human arm weight compensation in rehabilitation robotics: efficacy of three distinct methods
Average | Full | Equilibrium | |
---|---|---|---|
Estimation | No | Yes | Yes |
#of estimation poses | No | 2 | 1 |
CoM DoF calculation | 1 | 3 | 0 |
Force/torque sensors | No | Yes | Yes |
Hardware costs | Low | High | High |
Number of parameters | 4 | 8 | 2 |
Passive joint torques | No | No | Partial |
Calibration effort | Low | High | Medium |