Abstract

This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM® equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.

• Keywords: Muscle Volume Sensor(근 부피 센서),Human Intent Estimation(사람 의도 추정),Human Joint Torque Estimation(인체 관절토크 추정),Muscle Activation Signal(근육활성도 신호),Human Muscle Model(인체 근육모델)