Wrist joint angle estimation by means of muscle bulge based on deformation of the forearm skin surface

Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    The objective of this paper is to develop a method to estimate the wrist joint angle based on the deformation of the forearm skin surface during muscle contraction. We have focused on the longitudinal movement of the muscle bulge along the forearm. We previously confirmed a one-to-one relationship between the movement of the muscle bulge and the wrist joint angle, and validated the feasibility of the estimation of the joint angle using this relationship. However, the relationship between the movement of the muscle bulge and the wrist joint was previously difficult to perform because of the misalignment of the sensor on the muscle. Here we use a tactile sensor that can measure three-dimensional data on the forearm skin surface to map the muscle bulge location. We measured a large 32 × 96 mm area on the forearm skin with 48 skin distance sensors. We calculated x and y components of the barycentric coordinates from the measured data. We observed a one-to-one relationship between the y-component of the barycentric coordinate from the distribution of the movement of the muscle bulge on the forearm skin surface. We then calculated the RMSE between the measured and estimated wrist joint angle using our joint angle estimation algorithm. We found that the RMSE from our technique was greater than from the conventional method. While we validated the feasibility of our estimation method further research is required to reduce our estimation error by improving the extraction and interpretation of our sensor data.

    Original languageEnglish
    Title of host publication2016 World Automation Congress, WAC 2016
    PublisherIEEE Computer Society
    Volume2016-October
    ISBN (Electronic)9781889335513
    DOIs
    Publication statusPublished - 2016 Oct 4
    Event2016 World Automation Congress, WAC 2016 - Rio Grande, United States
    Duration: 2016 Jul 312016 Aug 4

    Other

    Other2016 World Automation Congress, WAC 2016
    CountryUnited States
    CityRio Grande
    Period16/7/3116/8/4

    Keywords

    • Angle estimation
    • Bio-signal processing
    • Muscle bulge
    • Powered prosthesis
    • Skin surface

    ASJC Scopus subject areas

    • Control and Systems Engineering

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  • Cite this

    Kato, A., Matsumoto, Y., Kobayashi, Y., Sugano, S., & Fujie, M. G. (2016). Wrist joint angle estimation by means of muscle bulge based on deformation of the forearm skin surface. In 2016 World Automation Congress, WAC 2016 (Vol. 2016-October). [7582961] IEEE Computer Society. https://doi.org/10.1109/WAC.2016.7582961