Table 2.

Virtual mass and damping parameters of the interface dynamics

	$M_{\mathit{\text{vi}}{r}_c}$	$D_{\mathit{\text{vi}}{r}_c}$
$H_{\mathit{\text{ad}}{m}_e}$	10kg	10Ns/m
$H_{\mathit{\text{ad}}{m}_f}$	15kg	5Ns/m
$H_{\mathit{\text{ad}}{m}_t}$	2kgm2	1Nms/rad

Subscript c stands for the type of control input: torque (t), sEMG (e) or force (f)