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    Human biomechanics passivity maps are reliable for physical human-robot interaction (pHRI). A single estimate of upper-limb energy absorption behavior is consistent across days, improving pHRI system practicality.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Control Theory

    Background:

    • Physical human-robot interaction (pHRI) increasingly utilizes human biomechanics.
    • The concept of Biomechanical Excess of Passivity (BEP) maps user-specific energetic behavior.
    • Current BEP mapping requires time-consuming offline identification, limiting practical application.

    Purpose of the Study:

    • To investigate the interday reliability of upper-limb passivity maps.
    • To assess the consistency of BEP estimates over time for healthy subjects.
    • To determine if a single BEP estimate is sufficient for repeated use in pHRI.

    Main Methods:

    • Five healthy subjects participated in the study.
    • Upper-limb passivity maps were generated using nonlinear control theory.
    • Interday reliability was statistically analyzed using Intraclass correlation coefficient (ICC).

    Main Results:

    • Passivity maps demonstrated high interday reliability in estimating energetic behavior.
    • ICC analysis confirmed consistency across different days and interaction types.
    • A one-shot BEP estimate proved reliable for repeated use.

    Conclusions:

    • Upper-limb passivity maps are a reliable measure for biomechanics-aware pHRI.
    • The findings enhance the practicality of BEP-based control in real-world pHRI scenarios.
    • This research supports the use of single-estimate BEP for stabilizing pHRI systems.