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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...
Increasing patient participation during therapeutic exercises is a key issue to design a neuro-rehabilitation strategy. In this paper, we show our on-going efforts to quantify how much effort is performing the patient during robotic therapy. We propose an methodology for online estimation of the patient participation during one session of ankle therapy using the Anklebot. As a valid measurement of...
Although the effectiveness of biofeedback using an electromyogram (EMG) has been reported, it is seldom used in ordinary therapeutic exercise because it takes time to attach electrodes. Conventional muscle force estimation methods using joint torque take time in order to solve optimization problems. In order to make the computation time shorter, a method has been proposed, which converts tip force...
EMG-to-force estimation for voluntary muscle contraction has many applications in human-machine interaction, motion analysis, and rehabilitation robotics for prosthetic limbs or exoskeletons. EMG-based model can account for a subject's individual activation patterns to estimate muscle force. For the estimation, so-called Hill-type model has been used in most of the cases. It already has shown its...
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