Fig. 3
Impedance planes obtained during human-eWrist interaction (repetitive extension and flexion movements) for two different sets of virtual inertia Mvirt and damping Bvirt. a Low mechanical resistance (i.e. high transparency) where Mvirt and Bvirt were set to 0.23 kg and 0.26 mNm/deg/s, respectively. b High mechanical resistance to movements where Mvirt and Bvirt were set in the admittance controller to 7.81 kg and 8.73 mNm/deg/s, respectively