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a Knee joint angle, b shoulder joint angle.
Fig. 6 Joint angle calculation (inverse kinematics).
The muscle length is derived from the joint angle.
The microcontrollers receive joint angle data from the external PC and performs position control with a 1 kHz-cycle PID controller and interpolation of joint angle.
The results of the joint angle are shown in Figure 12.
Some ESPRIT-based joint angle and frequency estimation methods have been proposed in [10 14].
References [15, 16] proposed the trilinear decomposition method for joint angle and frequency estimation method.
A proportional controller, implemented in the microcontroller of each joint module controls the corresponding joint angle.
In this manner, the solution of each joint angle is obtained.
Angles were recorded after 3 s in the maximum joint angle.
Multi resolution ESPRIT is used for joint angle frequency estimation in [12].
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