Table 3 Ablation results in 1-DoF normal-contact teleoperation (rigid wall).

From: An upper-limb teleoperation exoskeleton with stepless arm-length parameterization and adaptive force-triggered impedance blending

Case

\(F_{\text {peak}}(\text {N})\)

\(F_{\text {rms}}(\text {N})\)

\(e_{\text {free,rms}}(m)\)

\(\text {C}_0\)

23.74

18.39

5.241

\(\text {C}_1\)

23.08

17.94

5.241

\(\text {C}_2\)

17.03

13.72

6.760

\(\text {C}_3\)

7.41

4.27

5.441

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