Abstract
The aim of this paper is to arbitrarily modify the load force of any selected muscle by using an exoskeleton, thus enabling “pinpointed” motion support, rehabilitation, and training. An advanced dynamic model, called a musculoskeletal-exoskeletal integrated human model, is developed. The driving-forces of the pneumatic actuators are designated by a muscle force control algorithm using the integrated model. A prototype power-assisting system has been developed using pneumatic rubber actuators. The validity of the method has been confirmed by measuring surface electromyographic (EMG) signals of related muscles.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Kazerooni, H.: Extender: A Case Study for Human-Robot Interaction via Transfer of Power and Information Signals. In: Proc. IEEE Int. Workshop on Robot and Human Communication, pp. 10–20 (1993)
Lee, S., Sankai, Y.: Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1499–1504 (2002)
Maurel, W., Thalmann, D.: A Case Study on Human Upper Limb Modelling for Dynamic Simulation. Computer Methods in Biomechanics and Biomechanical Engineering 2(1), 65–82 (1999)
Delp, S.L., et al.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures. IEEE Trans. Biomedical Engineering 37(8), 757–767 (1990)
Lemay, M.A., Crago, P.E.: A dynamic model for simulating movements of the elbow, forearm, and wrist. J. Biomechanics 29, 1319–1330 (1996)
Crowninshield, R.D., Brand, R.A.: A physiologically based criterion of muscle force prediction in locomotion. J. Biomechanics 14, 793–801 (1981)
Karlsson, D., Peterson, B.: Towards a model for force predictions in the human shoulder. J. Biomechanics 25, 189–199 (1992)
MotCo project, http://www.motco.dir.bg/Data/PCSA.html
Veeger, H.E.J., et al.: Inertia and muscle contraction parameters for musculoskeletal modelling of the shoulder mechanism. J. Biomechanics 24, 615–629 (1991)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Ueda, J., Matsugashita, M., Oya, R., Ogasawara, T. (2008). Control of Muscle Force During Exercise Using a Musculoskeletal-Exoskeletal Integrated Human Model. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_14
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)