{"title":"Development of a 1-DOF Elbow Power Assisting System Based on Mechanomyogram Signals","authors":"Bin Zhang, Kenji Isobe, Hun-ok Lim","doi":"10.1109/PIC53636.2021.9687051","DOIUrl":null,"url":null,"abstract":"This paper presents a 1-DOF (degree-of-freedom) power assisting system that can assist elbow flexion motion by using mechanomyogram (MMG) signals. An MMG transducer is attached to the skin of biceps brachii to monitor muscle actions when the arm is moving. To estimate elbow flexion joint torques, a Hill-type muscle model and a musculoskeletal model of the arm are used. The estimated joint torques are substituted into the admittance control system, and the elbow joint angle is calculated. Power assisting experiments are conducted, and the effectiveness of the power assist system is verified.","PeriodicalId":297239,"journal":{"name":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PIC53636.2021.9687051","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a 1-DOF (degree-of-freedom) power assisting system that can assist elbow flexion motion by using mechanomyogram (MMG) signals. An MMG transducer is attached to the skin of biceps brachii to monitor muscle actions when the arm is moving. To estimate elbow flexion joint torques, a Hill-type muscle model and a musculoskeletal model of the arm are used. The estimated joint torques are substituted into the admittance control system, and the elbow joint angle is calculated. Power assisting experiments are conducted, and the effectiveness of the power assist system is verified.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
