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The force of a single muscle is not directly measurable without invasive methods. Yet invasive techniques are not appropriate for clinical use, thus a non-invasive technique that combined the electromyographic (EMG) signal and a neuromuscular model was developed to determine in vivo active muscle forces at the hip. The EMG-to-force processing (EFP) model included active and passive moment components,...
A lower-limb power-assist robot is expected to assist physically weak persons to walk, stand up, or sit down. However, since the environment perception ability of the physically weak persons is sometimes deteriorated also, falling accident might occur even though the power-assist is applied. A concept of perception-assist has been proposed to avoid an unexpected accident. This paper proposes a perception-assist...
To assist the walk of the physically weak people is important to increase their quality of life because it can expand their activity area. We present a soft wearable knee extensor, called Knee Tendon-suit, which assist the knee extension during climbing stairs. To achieve our goal, we used the tendon-driven mechanism for transmitting the actuation force and the anchor structure for transmitting the...
Dislocation of an artificial hip joint is one of the most serious problems for Total Hip Arthroplasty (THA). In order to analyze the phenomenon of the artificial hip joint dislocation, a hip joint simulator has been developed. Although the hip joint motion and the hip joint contact force (the resultant muscle force around muscles of hip joint and the floor reaction force) during the daily life motion...
This paper presents a novel neuromusculoskeletal (NMS) model of the human lower limb that uses the electromyo-graphic (EMG) signals from 16 muscles to estimate forces generated by 34 musculotendon actuators and the resulting joint moments at the hip, knee and ankle joints during varied contractile conditions. Our proposed methodology allows overcoming limitations on force computation shown by currently...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
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