NDLI: Pinpointed muscle force control using a power-assisting device: System configuration and experiment

Content Provider	IEEE Xplore Digital Library
Author	Ming Ding Ueda, J. Ogasawara, T.
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma (Ming Ding; Ueda, J.; Ogasawara, T.)
Abstract	The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling ldquopinpointedrdquo motion support, rehabilitation, and training by explicitly specifying the target muscles. By taking into account the physical interaction between human muscle forces and actuator driving forces during power-assisting, the feasibility of this muscle force control is analyzed as a constrained optimization problem. A prototype power-assisting device driven by pneumatic rubber actuators is developed. A control system is developed with a graphical user interface that provides an easy operation to designate desired forces for target muscles. The validity of the method is confirmed by experiments by measuring surface electromyographic (EMG) signals for target muscles.
Starting Page	181
Ending Page	186
File Size	831934
Page Count	6
File Format	PDF
ISBN	9781424428823
DOI	10.1109/BIOROB.2008.4762829
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Constraint optimization Actuators Senior citizens Humans Prototypes Muscles Rehabilitation robotics Aging Force control Motion control
Content Type	Text
Resource Type	Article

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