The video illustrates a procedure to perform the identification of a FES-controlled joint. The method was designed to estimate both passive and active parameters of the wrist joint controlled by surface electrical stimulation.
More details on the method can be found on the corresponding paper1.
References
1.
Bo, A. P. L. & Poignet, P. Tremor attenuation using FES-based joint stiffness control. in 2010 IEEE international conference on robotics and automation vol. 1 2928–2933 (IEEE, 2010).