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This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot, which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction in the control loop. The robot interacts with the human operator via force/torque (F/T) sensor and interacts with the environment mainly via end-eff...

A Passivity-Based Nonlinear Admittance Control With Application to Powered Upper-Limb Control Under Unknown Environmental Interactions