10.  Glossary

Degree of freedom (dof); Degré de liberté (ddl)

The number of independent generalized coordinates required to fully define the configuration of a system at each instant.

Revolute joint

Torque allowing rotation around a fixed axis.

Cocontraction; Co-contraction

Also known as coactivation, cocontraction refers to the simultaneous activation of two agonist/antagonist muscles during a movement.

Cobot; Cobot

It is a collaborative robot, i.e. capable of working safely in interaction with a human operator.