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. 2017 Jun 8;2017:3731802. doi: 10.1155/2017/3731802

Table 4.

Detection method of human robot interaction information.

HRI Detection signal Detection method
pHRI Kinematics information
Force/torque information		 Angle sensor,
acceleration sensor
Pressure sensor,
torque sensor
cHRI Muscle motility information
Brain motility information		 EMG, sEMG [98]
EEG [99]