Joint torque and angle estimation by using ultrasonic muscle activity sensor

Yoichiro Tsutsui; Takayuki Tanaka; Shun'ichi Kaneko; Maria Q. Feng

doi:10.1117/12.649202

6 December 2005 Joint torque and angle estimation by using ultrasonic muscle activity sensor

Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Maria Q. Feng

Proceedings Volume 6049, Optomechatronic Sensors and Instrumentation; 604902 (2005) https://doi.org/10.1117/12.649202
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

We have proposed a brand-new noninvasive ultrasonic sensor for measuring muscle activities named as Ultrasonic Muscle Activity Sensor (UMS). In the previous paper, the authors achieved to accurately estimate joint torque by using UMS and electromyogram (EMG) which is one of the most popular sensors. This paper aims to realize to measure not only joint torque also joint angle by using UMS and EMG. In order to estimate torque and angle of a knee joint, muscle activities of quadriceps femoris and biceps femoris were measured by both UMS and EMG. These targeted muscles are related to contraction and extension of knee joint. Simultaneously, actual torque on the knee joint caused by these muscles was measured by using torque sensor. The knee joint angle was fixed by torque sensor in the experiment, therefore the measurement was in isometric state. In the result, we found that the estimated torque and angle have high correlation coefficient to actual torque and angle. This means that the sensor can be used for angle estimation as well torque estimation. Therefore, it is shown that the combined use of UMS and EMG is effective to torque and angle estimation.

Citation Download Citation

Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, and Maria Q. Feng "Joint torque and angle estimation by using ultrasonic muscle activity sensor", Proc. SPIE 6049, Optomechatronic Sensors and Instrumentation, 604902 (6 December 2005); https://doi.org/10.1117/12.649202

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