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In this paper, a method is proposed to estimate the detailed muscular strength of a human limb. The detailed muscular strength discussed in this paper is not the strength produced by coordinated muscle actions but the joint torque generated by each muscle group classified according to its function. It is assumed that a human limb is modeled as a two-link manipulator actuated by three pairs of six...
A human-operated machine such as a reaching rehabilitation support robot functions as a reaction force control system in which a disturbance applied by a human is regarded as input. In this instance, it is desired that the system work in response to only the reaction force from a human operator; however, other disturbances often remain in practice. The residual disturbance deteriorates operational...
Comprehension of the arm condition is important for realization of effective rehabilitation support. In this paper, the measurements of the estimation of the impedance at the end effector of the arm are performed based on frequency analysis. Two experiments of the active muscle condition and relaxed muscle condition of the arm are carried out on the three directions determined in accordance with the...
This paper reports relations between force control performance and output direction at an end-effector of a limb when a human apply force to a rigid object. A highly backdrivable rehabilitation supporting system is used to provide an evaluation program. It is also used for repetitive force sensing. Measurement on twelve seated subjects can quantify force control accuracy when the subjects try to output...
This paper proposes an estimation method of muscular strength based on only output force information at an end-effector of a limb. The muscular strength estimated by the proposal is neither the strength of arms and legs nor torque of a joint. It is output force of functionally-classified muscle groups. Convergence performance of estimation results is improved by utilizing a model taking joint angular...
Functional effective muscle (FEM) theory can derive characteristics of limbs theoretically from detailed muscular strength. However, it is difficult to measure each muscular strength directly from outside the body. This paper proposes a new method for the estimation of muscular strength from maximum output force distribution at the end-effector of a limb. The proposed estimation method based on FEM...
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