Estimating a joint angle by means of muscle bulge movement along longitudinal direction of the forearm

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

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Bio-signal processing is a major topic in the field of robotics. Especially, prostheses have been studied for a long time to detect amputee's intentions from bio-signals because they do not have their limbs. However, controlling prostheses using bio-signals such as from the brain and surface electromyograms (sEMG), is complex and nonlinear because these signals are noisy and varied. It is not easy to determine the extent of motion such as a joint angle, and previous research used complex models or machine learning based on bio-signals. To estimate a joint angle easily and accurately, we propose a new bio-signal derived from the muscle bulge movements measured on the skin. We hypothesized a simple relationship between the muscle bulge movement longitudinally along a muscle and the corresponding joint angle, because the muscle contraction causes the change in the joint angle. We estimated a wrist joint angle as a function of the muscle bulge movement longitudinally along the extensor carpi radialis longus that is the agonist muscle of wrist extension. From the experimental results, the following three achievements were obtained. First, we extracted a linear relationship from the raw data with a high determination coefficient. Second, we showed that the estimation error using the proposed method was not much different from that of using sEMG in related work. Third, we established that the proposed method could estimate the joint angle robustly for the external loads on a limb.

本文言語English
ホスト出版物のタイトル2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ614-619
ページ数6
ISBN(電子版)9781467396745
DOI
出版ステータスPublished - 2015
イベントIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
継続期間: 2015 12月 62015 12月 9

出版物シリーズ

名前2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Other

OtherIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
国/地域China
CityZhuhai
Period15/12/615/12/9

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 制御およびシステム工学

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