Comparison of pre-existing RBF intent detection scheme (dark bar) with our proposed KF intent detection approach (light bar). The normalized error between the actual and estimated human intents for both methods is plotted over 20 s intervals (disturbance estimation error). After 60 s, nonposition-dependent human inputs of increasing magnitude were applied (circles) (Reproduced with permission from Pehlivan et al. [28]. Copyright 2016 by IEEE).